2021-08-13T12:32:41.457Z,1628857961.457 [DataOverHttps](INFO): Received command:restart logs 2021-08-13T12:32:41.467Z,1628857961.467 [CommandLine](IMPORTANT): got command restart logs 2021-08-13T12:33:16.230Z,1628857996.230 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T12:33:26.011Z,1628858006.011 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T12:35:30.743Z,1628858130.743 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51 2021-08-13T12:35:30.748Z,1628858130.748 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813123531.344449,06,829,23,0109,0150,194,00,00,01,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*5F 2021-08-13T12:35:58.879Z,1628858158.879 [CommandLine](IMPORTANT): got command get LineCapture.rolloutDistance 2021-08-13T12:35:58.880Z,1628858158.880 [CommandLine](IMPORTANT): LineCapture.rolloutDistance 150.000000 m 2021-08-13T12:36:58.439Z,1628858218.439 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-08-13T12:36:58.439Z,1628858218.439 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-08-13T12:36:58.439Z,1628858218.439 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T12:36:58.439Z,1628858218.439 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-08-13T12:36:58.840Z,1628858218.840 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-08-13T12:36:58.840Z,1628858218.840 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-08-13T12:36:59.233Z,1628858219.233 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 8.304584 min 2021-08-13T12:36:59.233Z,1628858219.233 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-08-13T12:36:59.233Z,1628858219.233 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T12:36:59.233Z,1628858219.233 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-08-13T12:36:59.233Z,1628858219.233 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T12:36:59.234Z,1628858219.234 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2021-08-13T12:36:59.234Z,1628858219.234 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2021-08-13T12:36:59.234Z,1628858219.234 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T12:36:59.234Z,1628858219.234 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-08-13T12:37:01.240Z,1628858221.240 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123700.00,A,4133.05876,N,07042.32922,W,0.117,122.08,130821,,,A*7C 2021-08-13T12:37:01.243Z,1628858221.243 [NAL9602](INFO): GPS fix at 20210813T123700: (41.550979, -70.705487) 2021-08-13T12:37:01.263Z,1628858221.263 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-08-13T12:37:01.263Z,1628858221.263 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-08-13T12:37:05.527Z,1628858225.527 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Courier0093.lzma 2021-08-13T12:37:06.530Z,1628858226.530 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0093.lzma.bak 2021-08-13T12:37:06.531Z,1628858226.531 [DataOverHttps](IMPORTANT): SBD MOMSN=431355, MTMSN=20210813T123705 2021-08-13T12:37:10.551Z,1628858230.551 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutDistance 250 m persist 2021-08-13T12:37:10.816Z,1628858230.816 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutDistance 250.000000 meter persist 2021-08-13T12:37:15.568Z,1628858235.568 [DataOverHttps](INFO): Sending 254 bytes from file Logs/20210813T123241/Courier0000.lzma 2021-08-13T12:37:16.569Z,1628858236.569 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Courier0000.lzma.bak 2021-08-13T12:37:16.570Z,1628858236.570 [DataOverHttps](INFO): SBD MOMSN=431358 2021-08-13T12:37:17.412Z,1628858237.412 [NAL9602](INFO): SBD MO Status=1, MOMSN=23660, MT Status=0, MTMSN=0 2021-08-13T12:37:17.412Z,1628858237.412 [NAL9602](INFO): No messages in MT queue 2021-08-13T12:37:25.607Z,1628858245.607 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T123241/Courier0003.lzma 2021-08-13T12:37:26.610Z,1628858246.610 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Courier0003.lzma.bak 2021-08-13T12:37:26.610Z,1628858246.610 [DataOverHttps](INFO): SBD MOMSN=431362 2021-08-13T12:37:35.647Z,1628858255.647 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T123241/Courier0006.lzma 2021-08-13T12:37:36.650Z,1628858256.650 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Courier0006.lzma.bak 2021-08-13T12:37:36.650Z,1628858256.650 [DataOverHttps](INFO): SBD MOMSN=431365 2021-08-13T12:37:45.687Z,1628858265.687 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20210812T232438/Express0094.lzma 2021-08-13T12:37:46.793Z,1628858266.793 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0094.lzma.bak 2021-08-13T12:37:46.793Z,1628858266.793 [DataOverHttps](INFO): SBD MOMSN=431367 2021-08-13T12:37:48.102Z,1628858268.102 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T12:37:55.728Z,1628858275.728 [DataOverHttps](INFO): Sending 388 bytes from file Logs/20210813T123241/Express0001.lzma 2021-08-13T12:37:56.730Z,1628858276.730 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0001.lzma.bak 2021-08-13T12:37:56.730Z,1628858276.730 [DataOverHttps](INFO): SBD MOMSN=431370 2021-08-13T12:38:06.771Z,1628858286.771 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210813T123241/Express0004.lzma 2021-08-13T12:38:07.774Z,1628858287.774 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0004.lzma.bak 2021-08-13T12:38:07.774Z,1628858287.774 [DataOverHttps](INFO): SBD MOMSN=431376 2021-08-13T12:38:16.812Z,1628858296.812 [DataOverHttps](INFO): Sending 207 bytes from file Logs/20210813T123241/Express0007.lzma 2021-08-13T12:38:17.814Z,1628858297.814 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0007.lzma.bak 2021-08-13T12:38:17.814Z,1628858297.814 [DataOverHttps](INFO): SBD MOMSN=431378 2021-08-13T12:38:19.255Z,1628858299.255 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-08-13T12:38:19.255Z,1628858299.255 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-08-13T12:38:19.255Z,1628858299.255 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-08-13T12:38:26.926Z,1628858306.926 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T12:38:58.981Z,1628858338.981 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T123858 2021-08-13T12:39:02.995Z,1628858342.995 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutSpeed 0 m/s 2021-08-13T12:39:03.194Z,1628858343.194 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutSpeed 0.000000 meter_per_second 2021-08-13T12:40:14.314Z,1628858414.314 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T124013 2021-08-13T12:40:18.332Z,1628858418.332 [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" 2p9u4 1 2 2021-08-13T12:40:18.418Z,1628858418.418 [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" 2p9u4 1 2.000000 2021-08-13T12:40:18.419Z,1628858418.419 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2p9u4 2021-08-13T12:40:18.420Z,1628858418.420 [CommandLine](IMPORTANT): Scheduled #10 (#1 of 2 with id='2p9u4'): "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 2021-08-13T12:40:19.333Z,1628858419.333 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T124018 2021-08-13T12:40:23.352Z,1628858423.352 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2p9u4 2 2 2021-08-13T12:40:23.366Z,1628858423.366 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2p9u4 2 2.000000 2021-08-13T12:40:23.366Z,1628858423.366 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2p9u4 2021-08-13T12:40:23.367Z,1628858423.367 [CommandLine](IMPORTANT): Scheduled #11 (#2 of 2 with id='2p9u4'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP 2021-08-13T12:40:23.530Z,1628858423.530 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-08-13T12:40:23.533Z,1628858423.533 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml 2021-08-13T12:40:23.700Z,1628858423.700 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h 2021-08-13T12:40:23.702Z,1628858423.702 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min 2021-08-13T12:40:23.709Z,1628858423.709 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min 2021-08-13T12:40:23.711Z,1628858423.711 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count 2021-08-13T12:40:23.718Z,1628858423.718 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min 2021-08-13T12:40:23.726Z,1628858423.726 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count 2021-08-13T12:40:23.729Z,1628858423.729 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s 2021-08-13T12:40:23.731Z,1628858423.731 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count 2021-08-13T12:40:23.761Z,1628858423.761 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count 2021-08-13T12:40:23.763Z,1628858423.763 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m 2021-08-13T12:40:23.766Z,1628858423.766 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m 2021-08-13T12:40:23.772Z,1628858423.772 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m 2021-08-13T12:40:23.774Z,1628858423.774 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km 2021-08-13T12:40:23.794Z,1628858423.794 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count 2021-08-13T12:40:23.809Z,1628858423.809 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count 2021-08-13T12:40:23.810Z,1628858423.810 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml 2021-08-13T12:40:24.248Z,1628858424.248 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool 2021-08-13T12:40:24.251Z,1628858424.251 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min 2021-08-13T12:40:24.253Z,1628858424.253 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool 2021-08-13T12:40:24.255Z,1628858424.255 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool 2021-08-13T12:40:24.257Z,1628858424.257 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool 2021-08-13T12:40:24.259Z,1628858424.259 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool 2021-08-13T12:40:24.277Z,1628858424.277 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count 2021-08-13T12:40:24.288Z,1628858424.288 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count 2021-08-13T12:40:24.290Z,1628858424.290 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 % 2021-08-13T12:40:24.308Z,1628858424.308 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool 2021-08-13T12:40:24.310Z,1628858424.310 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool 2021-08-13T12:40:24.316Z,1628858424.316 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool 2021-08-13T12:40:24.318Z,1628858424.318 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool 2021-08-13T12:40:24.329Z,1628858424.329 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2021-08-13T12:40:24.331Z,1628858424.331 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool 2021-08-13T12:40:24.338Z,1628858424.338 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool 2021-08-13T12:40:24.345Z,1628858424.345 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool 2021-08-13T12:40:24.357Z,1628858424.357 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool 2021-08-13T12:40:24.368Z,1628858424.368 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool 2021-08-13T12:40:24.371Z,1628858424.371 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool 2021-08-13T12:40:24.377Z,1628858424.377 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count 2021-08-13T12:40:24.379Z,1628858424.379 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count 2021-08-13T12:40:24.381Z,1628858424.381 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m 2021-08-13T12:40:24.383Z,1628858424.383 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m 2021-08-13T12:40:24.410Z,1628858424.410 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2021-08-13T12:40:24.413Z,1628858424.413 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l 2021-08-13T12:40:24.415Z,1628858424.415 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m 2021-08-13T12:40:24.417Z,1628858424.417 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC 2021-08-13T12:40:24.436Z,1628858424.436 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg 2021-08-13T12:40:24.438Z,1628858424.438 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg 2021-08-13T12:40:24.441Z,1628858424.441 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l 2021-08-13T12:40:24.443Z,1628858424.443 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m 2021-08-13T12:40:24.461Z,1628858424.461 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg 2021-08-13T12:40:24.505Z,1628858424.505 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg 2021-08-13T12:40:24.512Z,1628858424.512 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3 2021-08-13T12:40:24.514Z,1628858424.514 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m 2021-08-13T12:40:24.521Z,1628858424.521 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg 2021-08-13T12:40:24.523Z,1628858424.523 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg 2021-08-13T12:40:24.534Z,1628858424.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb 2021-08-13T12:40:24.539Z,1628858424.539 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m 2021-08-13T12:40:24.553Z,1628858424.553 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC 2021-08-13T12:40:24.560Z,1628858424.560 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg 2021-08-13T12:40:24.565Z,1628858424.565 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg 2021-08-13T12:40:24.568Z,1628858424.568 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m 2021-08-13T12:40:24.571Z,1628858424.571 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu 2021-08-13T12:40:24.581Z,1628858424.581 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m 2021-08-13T12:40:24.584Z,1628858424.584 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC 2021-08-13T12:40:24.586Z,1628858424.586 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg 2021-08-13T12:40:24.589Z,1628858424.589 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg 2021-08-13T12:40:24.591Z,1628858424.591 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l 2021-08-13T12:40:24.603Z,1628858424.603 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m 2021-08-13T12:40:24.610Z,1628858424.610 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg 2021-08-13T12:40:24.613Z,1628858424.613 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg 2021-08-13T12:40:24.615Z,1628858424.615 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m 2021-08-13T12:40:24.629Z,1628858424.629 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu 2021-08-13T12:40:24.639Z,1628858424.639 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m 2021-08-13T12:40:24.654Z,1628858424.654 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg 2021-08-13T12:40:24.660Z,1628858424.660 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg 2021-08-13T12:40:24.663Z,1628858424.663 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m 2021-08-13T12:40:24.671Z,1628858424.671 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu 2021-08-13T12:40:24.686Z,1628858424.686 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m 2021-08-13T12:40:24.692Z,1628858424.692 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg 2021-08-13T12:40:24.695Z,1628858424.695 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg 2021-08-13T12:40:24.705Z,1628858424.705 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m 2021-08-13T12:40:24.742Z,1628858424.742 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-08-13T12:40:24.781Z,1628858424.781 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2021-08-13T12:40:24.798Z,1628858424.798 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-08-13T12:40:24.825Z,1628858424.825 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-08-13T12:40:24.847Z,1628858424.847 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2021-08-13T12:40:24.927Z,1628858424.927 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-08-13T12:40:24.971Z,1628858424.971 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-08-13T12:40:24.000Z,1628858425.000 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2021-08-13T12:40:25.029Z,1628858425.029 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml 2021-08-13T12:40:25.061Z,1628858425.061 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m 2021-08-13T12:40:25.072Z,1628858425.072 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m 2021-08-13T12:40:25.074Z,1628858425.074 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m 2021-08-13T12:40:25.075Z,1628858425.075 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2021-08-13T12:40:25.086Z,1628858425.086 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2021-08-13T12:40:25.109Z,1628858425.109 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2021-08-13T12:40:25.125Z,1628858425.125 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml 2021-08-13T12:40:25.167Z,1628858425.167 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h 2021-08-13T12:40:25.170Z,1628858425.170 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min 2021-08-13T12:40:25.189Z,1628858425.189 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg 2021-08-13T12:40:25.191Z,1628858425.191 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s 2021-08-13T12:40:25.194Z,1628858425.194 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s 2021-08-13T12:40:25.196Z,1628858425.196 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min 2021-08-13T12:40:25.198Z,1628858425.198 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min 2021-08-13T12:40:25.205Z,1628858425.205 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2021-08-13T12:40:25.220Z,1628858425.220 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml 2021-08-13T12:40:25.265Z,1628858425.265 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min 2021-08-13T12:40:25.268Z,1628858425.268 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min 2021-08-13T12:40:25.296Z,1628858425.296 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval 2021-08-13T12:40:25.341Z,1628858425.341 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml 2021-08-13T12:40:25.535Z,1628858425.535 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg 2021-08-13T12:40:25.538Z,1628858425.538 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg 2021-08-13T12:40:25.541Z,1628858425.541 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min 2021-08-13T12:40:25.543Z,1628858425.543 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m 2021-08-13T12:40:25.546Z,1628858425.546 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s 2021-08-13T12:40:25.549Z,1628858425.549 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h 2021-08-13T12:40:25.551Z,1628858425.551 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m 2021-08-13T12:40:25.554Z,1628858425.554 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min 2021-08-13T12:40:25.581Z,1628858425.581 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h 2021-08-13T12:40:25.583Z,1628858425.583 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m 2021-08-13T12:40:25.590Z,1628858425.590 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m 2021-08-13T12:40:25.592Z,1628858425.592 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool 2021-08-13T12:40:25.594Z,1628858425.594 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m 2021-08-13T12:40:25.597Z,1628858425.597 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg 2021-08-13T12:40:25.599Z,1628858425.599 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m 2021-08-13T12:40:25.614Z,1628858425.614 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m 2021-08-13T12:40:25.617Z,1628858425.617 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m 2021-08-13T12:40:25.619Z,1628858425.619 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count 2021-08-13T12:40:25.621Z,1628858425.621 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count 2021-08-13T12:40:25.639Z,1628858425.639 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count 2021-08-13T12:40:25.642Z,1628858425.642 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count 2021-08-13T12:40:25.644Z,1628858425.644 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count 2021-08-13T12:40:25.647Z,1628858425.647 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a 2021-08-13T12:40:25.665Z,1628858425.665 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m 2021-08-13T12:40:25.667Z,1628858425.667 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min 2021-08-13T12:40:25.669Z,1628858425.669 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m 2021-08-13T12:40:25.724Z,1628858425.724 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml 2021-08-13T12:40:25.767Z,1628858425.767 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m 2021-08-13T12:40:25.778Z,1628858425.778 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m 2021-08-13T12:40:25.785Z,1628858425.785 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m 2021-08-13T12:40:25.786Z,1628858425.786 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2021-08-13T12:40:25.801Z,1628858425.801 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2021-08-13T12:40:25.821Z,1628858425.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2021-08-13T12:40:25.854Z,1628858425.854 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct. 2021-08-13T12:40:25.861Z,1628858425.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy. 2021-08-13T12:40:25.869Z,1628858425.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct. 2021-08-13T12:40:25.869Z,1628858425.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-08-13T12:40:25.970Z,1628858425.970 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct. 2021-08-13T12:40:25.977Z,1628858425.977 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct. 2021-08-13T12:40:25.986Z,1628858425.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint. 2021-08-13T12:40:26.010Z,1628858426.010 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct. 2021-08-13T12:40:26.016Z,1628858426.016 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait. 2021-08-13T12:40:26.026Z,1628858426.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct. 2021-08-13T12:40:26.034Z,1628858426.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct. 2021-08-13T12:40:26.042Z,1628858426.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-08-13T12:40:26.042Z,1628858426.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-08-13T12:40:26.045Z,1628858426.045 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait. 2021-08-13T12:40:26.069Z,1628858426.069 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml 2021-08-13T12:40:26.140Z,1628858426.140 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg 2021-08-13T12:40:26.142Z,1628858426.142 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg 2021-08-13T12:40:26.149Z,1628858426.149 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m 2021-08-13T12:40:26.172Z,1628858426.172 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min 2021-08-13T12:40:26.197Z,1628858426.197 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav. 2021-08-13T12:40:26.279Z,1628858426.279 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct. 2021-08-13T12:40:26.279Z,1628858426.279 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2021-08-13T12:40:26.291Z,1628858426.291 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct. 2021-08-13T12:40:26.291Z,1628858426.291 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values. 2021-08-13T12:40:26.358Z,1628858426.358 [MissionManager](DEBUG): Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data (4) Dock: final approach using fixed heading. Maximum length of mission 4 How often to surface for commumications 240 How often to trigger Umodem communications 5 Number of times the vehicle should try to cycle through the homing sequence. 1 Time duration to wait on the dock after a successful line capture. 5 Transponder Address. How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Number of pings requested while in USBL mode range. 5 USBL mode range. 40 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. -1 Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. 1 Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. 0 No longer in Terminal. Resuming normal ranging with pings. Entering USBL mode with pings. Resuming normal ranging with pings. -99 Mode 0 Waiting on dock for Breaking off. Range: . 2021-08-13T12:40:26.358Z,1628858426.358 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-08-13T12:40:40.394Z,1628858440.394 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute 2021-08-13T12:40:40.395Z,1628858440.395 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute 2021-08-13T12:40:40.396Z,1628858440.396 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count 2021-08-13T12:40:40.397Z,1628858440.397 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter 2021-08-13T12:40:46.703Z,1628858446.703 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-08-13T12:40:46.707Z,1628858446.707 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813124047.362859,06,90,19,0209,0150,194,02,02,00,02,-1,-01,-01,1,3,1,0,150,13.8,0.74,-100,2.26,-01,-1.41,61,14500,4000*5B 2021-08-13T12:40:46.915Z,1628858446.915 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter 2021-08-13T12:40:46.916Z,1628858446.916 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer 2021-08-13T12:40:46.917Z,1628858446.917 [CommandLine](IMPORTANT): got command run 2021-08-13T12:40:46.919Z,1628858446.919 [CommandLine](IMPORTANT): Running 2021-08-13T12:40:47.140Z,1628858447.140 [DefaultWithUndock] Stopped 2021-08-13T12:40:47.140Z,1628858447.140 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault] Stopped 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-08-13T12:40:47.141Z,1628858447.141 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T12:40:47.141Z,1628858447.141 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth] Running Loop=1 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth:Science] Running Loop=1 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth:Science:A] Running Loop=1 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth:Science:B] Running Loop=1 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth:Science:C] Running Loop=1 2021-08-13T12:40:47.142Z,1628858447.142 [lineCaptureDepth:Science:D] Running Loop=1 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:E] Running Loop=1 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:F] Running Loop=1 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:Read_Oil] Running Loop=1 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1 2021-08-13T12:40:47.143Z,1628858447.143 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-08-13T12:40:47.149Z,1628858447.149 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1 2021-08-13T12:40:47.149Z,1628858447.149 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport 2021-08-13T12:40:47.149Z,1628858447.149 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2021-08-13T12:40:47.149Z,1628858447.149 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2021-08-13T12:40:47.150Z,1628858447.150 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1 2021-08-13T12:40:47.150Z,1628858447.150 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3 2021-08-13T12:40:47.150Z,1628858447.150 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1 2021-08-13T12:40:47.150Z,1628858447.150 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-08-13T12:40:47.151Z,1628858447.151 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1 2021-08-13T12:40:47.151Z,1628858447.151 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil 2021-08-13T12:40:47.155Z,1628858447.155 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1 2021-08-13T12:40:47.155Z,1628858447.155 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-08-13T12:40:47.156Z,1628858447.156 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1 2021-08-13T12:40:47.157Z,1628858447.157 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport 2021-08-13T12:40:47.157Z,1628858447.157 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2021-08-13T12:40:47.157Z,1628858447.157 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2021-08-13T12:40:47.157Z,1628858447.157 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1 2021-08-13T12:40:47.157Z,1628858447.157 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM 2021-08-13T12:40:47.158Z,1628858447.158 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1 2021-08-13T12:40:47.158Z,1628858447.158 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-08-13T12:40:47.159Z,1628858447.159 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1 2021-08-13T12:40:47.159Z,1628858447.159 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity 2021-08-13T12:40:47.159Z,1628858447.159 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1 2021-08-13T12:40:47.159Z,1628858447.159 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-08-13T12:40:47.169Z,1628858447.169 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1 2021-08-13T12:40:47.169Z,1628858447.169 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport 2021-08-13T12:40:47.169Z,1628858447.169 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2021-08-13T12:40:47.170Z,1628858447.170 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2021-08-13T12:40:47.170Z,1628858447.170 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1 2021-08-13T12:40:47.170Z,1628858447.170 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent 2021-08-13T12:40:47.170Z,1628858447.170 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1 2021-08-13T12:40:47.170Z,1628858447.170 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes] Running Loop=1 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-08-13T12:40:47.171Z,1628858447.171 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-08-13T12:40:47.172Z,1628858447.172 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T12:40:47.172Z,1628858447.172 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T12:40:47.172Z,1628858447.172 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T12:40:47.172Z,1628858447.172 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:40:47.172Z,1628858447.172 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T12:40:47.172Z,1628858447.172 [lineCaptureDepth:TrackAC.] Running Loop=1 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact. 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal 2021-08-13T12:40:47.173Z,1628858447.173 [lineCaptureDepth:C] Running Loop=1 2021-08-13T12:40:47.175Z,1628858447.175 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped 2021-08-13T12:40:47.175Z,1628858447.175 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal 2021-08-13T12:40:47.175Z,1628858447.175 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped 2021-08-13T12:40:47.175Z,1628858447.175 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T12:40:47.175Z,1628858447.175 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped 2021-08-13T12:40:47.175Z,1628858447.175 [lineCaptureDepth:TrackAC.] Running Loop=1 2021-08-13T12:40:47.180Z,1628858447.180 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T12:40:47.180Z,1628858447.180 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T12:40:47.180Z,1628858447.180 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T12:40:47.180Z,1628858447.180 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:40:47.181Z,1628858447.181 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T12:40:47.181Z,1628858447.181 [lineCaptureDepth:C] Stopped 2021-08-13T12:40:47.181Z,1628858447.181 [lineCaptureDepth:D] Running Loop=1 2021-08-13T12:40:47.181Z,1628858447.181 [lineCaptureDepth:StandardEnvelopes] Running Loop=1 2021-08-13T12:40:47.181Z,1628858447.181 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-08-13T12:40:47.181Z,1628858447.181 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-08-13T12:40:47.182Z,1628858447.182 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-08-13T12:40:47.182Z,1628858447.182 [lineCaptureDepth:Science] Running Loop=1 2021-08-13T12:40:47.183Z,1628858447.183 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped 2021-08-13T12:40:47.183Z,1628858447.183 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport 2021-08-13T12:40:47.184Z,1628858447.184 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-08-13T12:40:47.185Z,1628858447.185 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectOil] Stopped 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectNO3] Stopped 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3 2021-08-13T12:40:47.186Z,1628858447.186 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:PeakDetectChl] Stopped 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-08-13T12:40:47.187Z,1628858447.187 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1 2021-08-13T12:40:47.197Z,1628858447.197 [lineCaptureDepth:Science:Read_Oil] Running Loop=1 2021-08-13T12:40:47.197Z,1628858447.197 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water 2021-08-13T12:40:47.198Z,1628858447.198 [lineCaptureDepth:Science:F] Stopped 2021-08-13T12:40:47.198Z,1628858447.198 [lineCaptureDepth:Science:E] Stopped 2021-08-13T12:40:47.198Z,1628858447.198 [lineCaptureDepth:Science:D] Stopped 2021-08-13T12:40:47.198Z,1628858447.198 [lineCaptureDepth:Science:C] Running Loop=1 2021-08-13T12:40:47.198Z,1628858447.198 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2021-08-13T12:40:47.199Z,1628858447.199 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2021-08-13T12:40:47.199Z,1628858447.199 [lineCaptureDepth:Science:B] Running Loop=1 2021-08-13T12:40:47.199Z,1628858447.199 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2021-08-13T12:40:47.204Z,1628858447.204 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2021-08-13T12:40:47.204Z,1628858447.204 [lineCaptureDepth:Science:A] Stopped 2021-08-13T12:40:47.260Z,1628858447.260 [WetLabsSeaOWL_UV_A](INFO): Powering up 2021-08-13T12:40:47.523Z,1628858447.523 [lineCaptureDepth:D] Stopped 2021-08-13T12:40:47.523Z,1628858447.523 [lineCaptureDepth:E] Running Loop=1 2021-08-13T12:40:48.001Z,1628858448.001 [lineCaptureDepth:E] Stopped 2021-08-13T12:40:48.001Z,1628858448.001 [lineCaptureDepth:G] Running Loop=1 2021-08-13T12:40:48.351Z,1628858448.351 [lineCaptureDepth:G] Stopped 2021-08-13T12:40:48.351Z,1628858448.351 [lineCaptureDepth:H] Running Loop=1 2021-08-13T12:40:48.756Z,1628858448.756 [lineCaptureDepth:H] Stopped 2021-08-13T12:40:48.756Z,1628858448.756 [lineCaptureDepth:J] Running Loop=1 2021-08-13T12:40:49.141Z,1628858449.141 [lineCaptureDepth:J] Stopped 2021-08-13T12:40:49.142Z,1628858449.142 [lineCaptureDepth:M] Running Loop=1 2021-08-13T12:40:49.555Z,1628858449.555 [lineCaptureDepth:M] Stopped 2021-08-13T12:40:49.555Z,1628858449.555 [lineCaptureDepth:N] Running Loop=1 2021-08-13T12:40:50.011Z,1628858450.011 [lineCaptureDepth:N] Stopped 2021-08-13T12:40:50.012Z,1628858450.012 [lineCaptureDepth:O] Running Loop=1 2021-08-13T12:40:50.012Z,1628858450.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:40:50.317Z,1628858450.317 [CTD_Seabird](ERROR): Failed to parse device response: 2021-08-13T12:40:50.341Z,1628858450.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:40:50.341Z,1628858450.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:40:50.341Z,1628858450.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:40:50.342Z,1628858450.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:40:50.402Z,1628858450.402 [lineCaptureDepth:O] Stopped 2021-08-13T12:40:50.402Z,1628858450.402 [lineCaptureDepth:Lap] Running Loop=1 2021-08-13T12:40:50.402Z,1628858450.402 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-08-13T12:40:50.402Z,1628858450.402 [lineCaptureDepth:Lap:A] Running Loop=1 2021-08-13T12:40:50.745Z,1628858450.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F19,000,013DF,186,80,80,4D,FF 2021-08-13T12:40:50.745Z,1628858450.745 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:40:50.746Z,1628858450.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:40:50.747Z,1628858450.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:40:50.857Z,1628858450.857 [lineCaptureDepth:Lap:A] Stopped 2021-08-13T12:40:50.857Z,1628858450.857 [lineCaptureDepth:Lap:B] Running Loop=1 2021-08-13T12:40:50.858Z,1628858450.858 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-08-13T12:40:51.154Z,1628858451.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:40:51.189Z,1628858451.189 [lineCaptureDepth:LineCapture] Running Loop=1 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-08-13T12:40:51.190Z,1628858451.190 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T12:40:51.191Z,1628858451.191 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T12:40:51.192Z,1628858451.192 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T12:40:51.192Z,1628858451.192 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-08-13T12:40:51.192Z,1628858451.192 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T12:40:51.192Z,1628858451.192 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:40:51.192Z,1628858451.192 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T12:40:51.193Z,1628858451.193 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T12:40:51.193Z,1628858451.193 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T12:40:51.193Z,1628858451.193 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T12:40:51.193Z,1628858451.193 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T12:40:51.193Z,1628858451.193 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-08-13T12:40:51.193Z,1628858451.193 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-08-13T12:40:51.194Z,1628858451.194 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-08-13T12:40:51.194Z,1628858451.194 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-08-13T12:40:51.194Z,1628858451.194 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-08-13T12:40:51.194Z,1628858451.194 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-08-13T12:40:51.195Z,1628858451.195 [lineCaptureDepth:LineCapture:A] Stopped 2021-08-13T12:40:51.195Z,1628858451.195 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-08-13T12:40:51.583Z,1628858451.583 [lineCaptureDepth:LineCapture:B] Stopped 2021-08-13T12:40:51.583Z,1628858451.583 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-08-13T12:40:51.974Z,1628858451.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,013D7,187,80,80,BB,FF 2021-08-13T12:40:51.974Z,1628858451.974 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:40:51.993Z,1628858451.993 [Micromodem](INFO): Nmea in: $SNTTA,0.490997,,,,124052.27*4F 2021-08-13T12:40:52.098Z,1628858452.098 [lineCaptureDepth:LineCapture:D] Stopped 2021-08-13T12:40:52.098Z,1628858452.098 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-08-13T12:40:52.406Z,1628858452.406 [lineCaptureDepth:LineCapture:E] Stopped 2021-08-13T12:40:52.406Z,1628858452.406 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-08-13T12:40:52.793Z,1628858452.793 [lineCaptureDepth:LineCapture:F] Stopped 2021-08-13T12:40:52.793Z,1628858452.793 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-08-13T12:40:52.793Z,1628858452.793 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-08-13T12:40:52.793Z,1628858452.793 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-08-13T12:40:52.794Z,1628858452.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-08-13T12:40:52.794Z,1628858452.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-08-13T12:40:52.794Z,1628858452.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-08-13T12:40:52.794Z,1628858452.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-08-13T12:40:52.794Z,1628858452.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-08-13T12:40:52.794Z,1628858452.794 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-08-13T12:40:52.795Z,1628858452.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-08-13T12:40:52.796Z,1628858452.796 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-08-13T12:40:52.796Z,1628858452.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-08-13T12:40:52.796Z,1628858452.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T12:40:52.796Z,1628858452.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-08-13T12:40:52.796Z,1628858452.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T12:40:52.797Z,1628858452.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-08-13T12:40:52.797Z,1628858452.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-08-13T12:40:52.797Z,1628858452.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-08-13T12:40:52.797Z,1628858452.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-08-13T12:40:52.797Z,1628858452.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-08-13T12:40:53.216Z,1628858453.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-08-13T12:40:53.216Z,1628858453.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T12:40:53.216Z,1628858453.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-08-13T12:40:53.216Z,1628858453.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T12:40:53.216Z,1628858453.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-08-13T12:40:53.217Z,1628858453.217 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-08-13T12:40:53.585Z,1628858453.585 [PowerOnly](INFO): Powering up loadControl 2021-08-13T12:40:54.845Z,1628858454.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:40:55.225Z,1628858455.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:40:55.225Z,1628858455.225 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:40:55.225Z,1628858455.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:40:55.226Z,1628858455.226 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:40:55.632Z,1628858455.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF5,000,013D7,187,80,80,BB,FF 2021-08-13T12:40:55.632Z,1628858455.632 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:40:55.632Z,1628858455.632 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:40:55.634Z,1628858455.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:40:56.069Z,1628858456.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:40:56.139Z,1628858456.139 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-08-13T12:40:56.459Z,1628858456.459 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-08-13T12:40:56.853Z,1628858456.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,013D7,189,80,80,A2,FF 2021-08-13T12:40:56.853Z,1628858456.853 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:40:56.856Z,1628858456.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124057.16*5C 2021-08-13T12:40:59.728Z,1628858459.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:00.097Z,1628858460.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:00.097Z,1628858460.097 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:00.097Z,1628858460.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:00.098Z,1628858460.098 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:00.477Z,1628858460.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D86,000,013D7,189,80,80,A2,FF 2021-08-13T12:41:00.477Z,1628858460.477 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:00.477Z,1628858460.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:00.479Z,1628858460.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:00.886Z,1628858460.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:01.733Z,1628858461.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,013DA,189,80,80,9C,FF 2021-08-13T12:41:01.733Z,1628858461.733 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:41:01.736Z,1628858461.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124102.00*5A 2021-08-13T12:41:04.553Z,1628858464.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:04.921Z,1628858464.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:04.921Z,1628858464.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:04.921Z,1628858464.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:04.922Z,1628858464.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:05.321Z,1628858465.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,013DA,189,80,80,9C,FF 2021-08-13T12:41:05.321Z,1628858465.321 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:05.321Z,1628858465.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:05.323Z,1628858465.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:05.728Z,1628858465.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:06.545Z,1628858466.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,013DB,188,80,80,8F,FF 2021-08-13T12:41:06.545Z,1628858466.545 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:41:06.549Z,1628858466.549 [Micromodem](INFO): Nmea in: $SNTTA,0.180293,,,,124106.85*4C 2021-08-13T12:41:09.420Z,1628858469.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:09.793Z,1628858469.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:09.793Z,1628858469.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:09.793Z,1628858469.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:09.794Z,1628858469.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:10.189Z,1628858470.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,013DB,188,80,80,8F,FF 2021-08-13T12:41:10.189Z,1628858470.189 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:10.189Z,1628858470.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:10.191Z,1628858470.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:10.584Z,1628858470.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:11.390Z,1628858471.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,013DC,189,80,80,85,FF 2021-08-13T12:41:11.390Z,1628858471.390 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:41:11.393Z,1628858471.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124111.71*5E 2021-08-13T12:41:14.285Z,1628858474.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:14.622Z,1628858474.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:14.622Z,1628858474.622 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:14.622Z,1628858474.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:14.623Z,1628858474.623 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:15.022Z,1628858475.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DD8,000,013DC,189,80,80,85,FF 2021-08-13T12:41:15.022Z,1628858475.022 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:15.022Z,1628858475.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:15.025Z,1628858475.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:15.445Z,1628858475.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:16.242Z,1628858476.242 [Micromodem](INFO): Nmea in: $SNTTA,0.180742,,,,124116.55*49 2021-08-13T12:41:16.710Z,1628858476.710 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 267.54 m. Transitioning DDM to standby. 2021-08-13T12:41:17.050Z,1628858477.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:18.653Z,1628858478.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:18.654Z,1628858478.654 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:18.654Z,1628858478.654 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:19.118Z,1628858479.118 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-08-13T12:41:19.486Z,1628858479.486 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-08-13T12:41:19.486Z,1628858479.486 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-08-13T12:41:19.486Z,1628858479.486 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-08-13T12:41:19.845Z,1628858479.845 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-08-13T12:41:19.845Z,1628858479.845 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-08-13T12:41:19.845Z,1628858479.845 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-08-13T12:41:19.847Z,1628858479.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:20.257Z,1628858480.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:20.258Z,1628858480.258 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:20.258Z,1628858480.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:20.259Z,1628858480.259 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:20.349Z,1628858480.349 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-08-13T12:41:20.349Z,1628858480.349 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-08-13T12:41:20.349Z,1628858480.349 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-08-13T12:41:20.349Z,1628858480.349 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-08-13T12:41:20.349Z,1628858480.349 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-08-13T12:41:20.637Z,1628858480.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:20.637Z,1628858480.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:20.638Z,1628858480.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:20.639Z,1628858480.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:20.724Z,1628858480.724 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-08-13T12:41:20.724Z,1628858480.724 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T12:41:20.724Z,1628858480.724 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-08-13T12:41:20.725Z,1628858480.725 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T12:41:20.725Z,1628858480.725 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-08-13T12:41:20.725Z,1628858480.725 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-08-13T12:41:20.726Z,1628858480.726 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-08-13T12:41:20.726Z,1628858480.726 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-08-13T12:41:20.726Z,1628858480.726 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-08-13T12:41:20.727Z,1628858480.727 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-08-13T12:41:20.736Z,1628858480.736 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-08-13T12:41:20.737Z,1628858480.737 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-08-13T12:41:20.737Z,1628858480.737 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-08-13T12:41:20.738Z,1628858480.738 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-08-13T12:41:20.739Z,1628858480.739 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-08-13T12:41:20.748Z,1628858480.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 267.540009 m 2021-08-13T12:41:20.748Z,1628858480.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-08-13T12:41:20.748Z,1628858480.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-08-13T12:41:20.749Z,1628858480.749 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg ) 2021-08-13T12:41:20.749Z,1628858480.749 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-08-13T12:41:20.750Z,1628858480.750 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-08-13T12:41:20.750Z,1628858480.750 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-08-13T12:41:21.044Z,1628858481.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:21.088Z,1628858481.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-08-13T12:41:21.088Z,1628858481.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-08-13T12:41:21.088Z,1628858481.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-08-13T12:41:21.088Z,1628858481.088 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-08-13T12:41:21.088Z,1628858481.088 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T12:41:21.089Z,1628858481.089 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T12:41:21.090Z,1628858481.090 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T12:41:21.090Z,1628858481.090 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T12:41:21.485Z,1628858481.485 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1 2021-08-13T12:41:21.485Z,1628858481.485 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal 2021-08-13T12:41:21.485Z,1628858481.485 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1 2021-08-13T12:41:21.486Z,1628858481.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-08-13T12:41:21.486Z,1628858481.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T12:41:21.486Z,1628858481.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-08-13T12:41:21.487Z,1628858481.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-08-13T12:41:21.488Z,1628858481.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-08-13T12:41:21.488Z,1628858481.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-08-13T12:41:21.489Z,1628858481.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-08-13T12:41:21.489Z,1628858481.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-08-13T12:41:21.489Z,1628858481.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-08-13T12:41:21.489Z,1628858481.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-08-13T12:41:21.489Z,1628858481.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-08-13T12:41:21.490Z,1628858481.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-08-13T12:41:21.490Z,1628858481.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-08-13T12:41:21.491Z,1628858481.491 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-08-13T12:41:21.492Z,1628858481.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-08-13T12:41:21.492Z,1628858481.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-08-13T12:41:21.492Z,1628858481.492 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-08-13T12:41:21.865Z,1628858481.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124122.16*5F 2021-08-13T12:41:21.965Z,1628858481.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.540009 m, bearing: 265.069615 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T12:41:21.966Z,1628858481.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 265.069615deg and heading rate command to 0 deg/s. 2021-08-13T12:41:22.360Z,1628858482.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:23.921Z,1628858483.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:23.922Z,1628858483.922 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:23.923Z,1628858483.923 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:25.139Z,1628858485.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:25.525Z,1628858485.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:25.525Z,1628858485.525 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:25.525Z,1628858485.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:25.526Z,1628858485.526 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:25.964Z,1628858485.964 [DUSBL_Hydroid](INFO): DUSBL response received:63,E4 !U1,P 63,E4 C,189,80,80,85,FF 2021-08-13T12:41:25.964Z,1628858485.964 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:25.965Z,1628858485.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:25.966Z,1628858485.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:26.445Z,1628858486.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:27.236Z,1628858487.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124127.49*50 2021-08-13T12:41:27.668Z,1628858487.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:29.242Z,1628858489.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,801,P 63,E4 C,189,80,80,85,FF 2021-08-13T12:41:29.242Z,1628858489.242 [DUSBL_Hydroid](INFO): No reply:!U1,N,801,P 63,E4 C,189,80,80,85,FF 2021-08-13T12:41:29.242Z,1628858489.242 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:30.501Z,1628858490.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:30.853Z,1628858490.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:30.853Z,1628858490.853 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:30.853Z,1628858490.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:30.854Z,1628858490.854 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:31.263Z,1628858491.263 [DUSBL_Hydroid](INFO): DUSBL response received:,80,63,E4 !U1,P 4 C,189,80,80,85,FF 2021-08-13T12:41:31.263Z,1628858491.263 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:31.263Z,1628858491.263 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:31.267Z,1628858491.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:31.762Z,1628858491.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:32.575Z,1628858492.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124132.80*51 2021-08-13T12:41:33.016Z,1628858493.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:34.597Z,1628858494.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:34.597Z,1628858494.597 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:34.597Z,1628858494.597 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:35.853Z,1628858495.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:36.217Z,1628858496.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:36.217Z,1628858496.217 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:36.217Z,1628858496.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:36.218Z,1628858496.218 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:36.773Z,1628858496.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:36.773Z,1628858496.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:36.774Z,1628858496.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:36.775Z,1628858496.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:37.204Z,1628858497.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:38.022Z,1628858498.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124138.30*50 2021-08-13T12:41:38.422Z,1628858498.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:40.413Z,1628858500.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:40.413Z,1628858500.413 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:40.414Z,1628858500.414 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:41.290Z,1628858501.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:41.632Z,1628858501.632 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:41.633Z,1628858501.633 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:41.633Z,1628858501.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:41.634Z,1628858501.634 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:42.061Z,1628858502.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:42.061Z,1628858502.061 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:42.061Z,1628858502.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:42.063Z,1628858502.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:42.477Z,1628858502.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:43.302Z,1628858503.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124143.59*53 2021-08-13T12:41:44.135Z,1628858504.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:45.701Z,1628858505.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:45.701Z,1628858505.701 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:45.701Z,1628858505.701 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:46.978Z,1628858506.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:47.325Z,1628858507.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:47.325Z,1628858507.325 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:47.326Z,1628858507.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:47.327Z,1628858507.327 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:47.745Z,1628858507.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:47.745Z,1628858507.745 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:47.745Z,1628858507.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:47.747Z,1628858507.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:48.208Z,1628858508.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:49.042Z,1628858509.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124149.27*50 2021-08-13T12:41:49.839Z,1628858509.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:51.041Z,1628858511.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:51.041Z,1628858511.041 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:51.041Z,1628858511.041 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:52.697Z,1628858512.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:53.053Z,1628858513.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:53.053Z,1628858513.053 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:53.053Z,1628858513.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:53.054Z,1628858513.054 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:53.462Z,1628858513.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:53.462Z,1628858513.462 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:53.462Z,1628858513.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:53.464Z,1628858513.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:53.889Z,1628858513.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:41:54.698Z,1628858514.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124154.99*59 2021-08-13T12:41:55.510Z,1628858515.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:57.113Z,1628858517.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:57.114Z,1628858517.114 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:57.114Z,1628858517.114 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:41:58.383Z,1628858518.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:41:58.720Z,1628858518.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:41:58.721Z,1628858518.721 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:41:58.721Z,1628858518.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:41:58.722Z,1628858518.722 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:41:59.113Z,1628858519.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,85,FF 2021-08-13T12:41:59.113Z,1628858519.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:41:59.113Z,1628858519.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:41:59.115Z,1628858519.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:41:59.520Z,1628858519.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:00.377Z,1628858520.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,013B5,186,80,80,27,FF 2021-08-13T12:42:00.377Z,1628858520.377 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:00.380Z,1628858520.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124200.64*59 2021-08-13T12:42:00.771Z,1628858520.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.199982 m, bearing: 236.207913 deg, deltaT: 48.983513 s, approachRate: -0.047772 m/s, LOS rate: -0.589213 deg/s, posRepo size: 2 2021-08-13T12:42:00.772Z,1628858520.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.589213 deg/s. Setting heading cmd to target bearing of 236.207913deg and heading rate command to 0 deg/s. 2021-08-13T12:42:03.183Z,1628858523.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:03.557Z,1628858523.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:03.557Z,1628858523.557 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:03.557Z,1628858523.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:03.558Z,1628858523.558 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:04.001Z,1628858524.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0CB,000,013B5,186,80,80,27,FF 2021-08-13T12:42:04.001Z,1628858524.001 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:04.002Z,1628858524.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:04.003Z,1628858524.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:04.377Z,1628858524.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:05.175Z,1628858525.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,013A6,188,80,80,8A,FF 2021-08-13T12:42:05.176Z,1628858525.176 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:05.183Z,1628858525.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124205.53*58 2021-08-13T12:42:05.608Z,1628858525.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.299988 m, bearing: 307.167814 deg, deltaT: 4.819644 s, approachRate: -0.186735 m/s, LOS rate: 14.723058 deg/s, posRepo size: 3 2021-08-13T12:42:05.609Z,1628858525.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.723058 deg/s. Setting heading cmd to target bearing of 307.167814deg and heading rate command to 0 deg/s. 2021-08-13T12:42:08.059Z,1628858528.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:08.413Z,1628858528.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:08.413Z,1628858528.413 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:08.413Z,1628858528.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:08.414Z,1628858528.414 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:08.817Z,1628858528.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,013A6,188,80,80,8A,FF 2021-08-13T12:42:08.817Z,1628858528.817 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:08.818Z,1628858528.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:08.819Z,1628858528.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:09.221Z,1628858529.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:10.057Z,1628858530.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,013A2,188,80,80,9A,FF 2021-08-13T12:42:10.057Z,1628858530.057 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:10.080Z,1628858530.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124210.34*5D 2021-08-13T12:42:10.468Z,1628858530.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.059998 m, bearing: 259.393373 deg, deltaT: 4.868795 s, approachRate: -0.049292 m/s, LOS rate: -9.812374 deg/s, posRepo size: 4 2021-08-13T12:42:10.470Z,1628858530.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 264.059998 m, bearing: 259.393373 deg, approachRate: -0.049292 m/s, LOS rate: -9.812374 deg/s, cmd update: -12.000000 deg/s, cmd heading: 307.167814 deg, new cmd heading: 307.167814 deg. 2021-08-13T12:42:12.917Z,1628858532.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:13.253Z,1628858533.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:13.253Z,1628858533.253 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:13.253Z,1628858533.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:13.254Z,1628858533.254 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:13.661Z,1628858533.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DDB,000,013A2,188,80,80,9A,FF 2021-08-13T12:42:13.661Z,1628858533.661 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:13.661Z,1628858533.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:13.663Z,1628858533.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:14.090Z,1628858534.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:14.923Z,1628858534.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,013A3,186,80,80,7A,FF 2021-08-13T12:42:14.923Z,1628858534.923 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:14.931Z,1628858534.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124215.19*57 2021-08-13T12:42:15.354Z,1628858535.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.119995 m, bearing: 260.059234 deg, deltaT: 4.879025 s, approachRate: 0.012297 m/s, LOS rate: 0.136474 deg/s, posRepo size: 4 2021-08-13T12:42:15.356Z,1628858535.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 264.119995 m, bearing: 260.059234 deg, approachRate: 0.012297 m/s, LOS rate: 0.136474 deg/s, cmd update: 0.409423 deg/s, cmd heading: 248.667740 deg, new cmd heading: 244.546460 deg. 2021-08-13T12:42:17.770Z,1628858537.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:18.161Z,1628858538.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:18.161Z,1628858538.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:18.161Z,1628858538.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:18.162Z,1628858538.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:18.549Z,1628858538.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E35,000,013A3,186,80,80,7A,FF 2021-08-13T12:42:18.549Z,1628858538.549 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:18.549Z,1628858538.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:18.551Z,1628858538.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:18.953Z,1628858538.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:19.789Z,1628858539.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0139D,189,80,80,B2,FF 2021-08-13T12:42:19.789Z,1628858539.789 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:19.792Z,1628858539.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124220.08*51 2021-08-13T12:42:20.230Z,1628858540.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.759979 m, bearing: 320.786501 deg, deltaT: 4.796893 s, approachRate: -0.075052 m/s, LOS rate: 12.659709 deg/s, posRepo size: 4 2021-08-13T12:42:20.231Z,1628858540.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.659709 deg/s. Setting heading cmd to target bearing of 320.786501deg and heading rate command to 0 deg/s. 2021-08-13T12:42:22.599Z,1628858542.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:22.985Z,1628858542.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:22.985Z,1628858542.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:22.985Z,1628858542.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:22.986Z,1628858542.986 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:23.381Z,1628858543.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,0139D,189,80,80,B2,FF 2021-08-13T12:42:23.381Z,1628858543.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:23.382Z,1628858543.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:23.383Z,1628858543.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:23.807Z,1628858543.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:24.621Z,1628858544.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0138A,189,80,80,77,FF 2021-08-13T12:42:24.622Z,1628858544.622 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:24.624Z,1628858544.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124224.91*55 2021-08-13T12:42:25.014Z,1628858545.014 [PowerOnly](INFO): Powering down loadControl 2021-08-13T12:42:25.053Z,1628858545.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.619995 m, bearing: 324.931797 deg, deltaT: 4.897360 s, approachRate: -0.232775 m/s, LOS rate: 0.846435 deg/s, posRepo size: 4 2021-08-13T12:42:25.055Z,1628858545.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.619995 m, bearing: 324.931797 deg, approachRate: -0.232775 m/s, LOS rate: 0.846435 deg/s, cmd update: 2.539305 deg/s, cmd heading: 320.786501 deg, new cmd heading: 320.786501 deg. 2021-08-13T12:42:27.470Z,1628858547.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:27.833Z,1628858547.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:27.833Z,1628858547.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:27.833Z,1628858547.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:27.834Z,1628858547.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:28.233Z,1628858548.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,0138A,189,80,80,77,FF 2021-08-13T12:42:28.233Z,1628858548.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:28.234Z,1628858548.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:28.235Z,1628858548.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:28.722Z,1628858548.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:29.553Z,1628858549.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01377,18A,80,80,85,FF 2021-08-13T12:42:29.553Z,1628858549.553 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:29.560Z,1628858549.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124229.76*51 2021-08-13T12:42:30.038Z,1628858550.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.480011 m, bearing: 328.186628 deg, deltaT: 4.920176 s, approachRate: -0.231696 m/s, LOS rate: 0.661527 deg/s, posRepo size: 4 2021-08-13T12:42:30.041Z,1628858550.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 261.480011 m, bearing: 328.186628 deg, approachRate: -0.231696 m/s, LOS rate: 0.661527 deg/s, cmd update: 1.984582 deg/s, cmd heading: 333.381043 deg, new cmd heading: 334.424060 deg. 2021-08-13T12:42:32.391Z,1628858552.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:32.757Z,1628858552.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:32.757Z,1628858552.757 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:32.757Z,1628858552.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:32.758Z,1628858552.758 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:33.171Z,1628858553.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,01377,18A,80,80,85,FF 2021-08-13T12:42:33.171Z,1628858553.171 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:33.171Z,1628858553.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:33.173Z,1628858553.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:33.578Z,1628858553.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:34.409Z,1628858554.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BCD,000,0135F,189,80,80,AD,FF 2021-08-13T12:42:34.409Z,1628858554.409 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:34.412Z,1628858554.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124234.70*5B 2021-08-13T12:42:34.821Z,1628858554.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.039978 m, bearing: 335.020697 deg, deltaT: 4.835789 s, approachRate: -0.297787 m/s, LOS rate: 1.413227 deg/s, posRepo size: 4 2021-08-13T12:42:34.823Z,1628858554.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.039978 m, bearing: 335.020697 deg, approachRate: -0.297787 m/s, LOS rate: 1.413227 deg/s, cmd update: 4.239682 deg/s, cmd heading: 342.970834 deg, new cmd heading: 343.688357 deg. 2021-08-13T12:42:36.080Z,1628858556.080 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T12:42:37.245Z,1628858557.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:37.613Z,1628858557.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:37.613Z,1628858557.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:37.613Z,1628858557.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:37.614Z,1628858557.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:38.021Z,1628858558.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BCD,000,0135F,189,80,80,AD,FF 2021-08-13T12:42:38.021Z,1628858558.021 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:38.021Z,1628858558.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:38.023Z,1628858558.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:38.488Z,1628858558.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:39.297Z,1628858559.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,0133B,187,80,80,5D,FF 2021-08-13T12:42:39.298Z,1628858559.298 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:39.301Z,1628858559.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124239.55*51 2021-08-13T12:42:39.739Z,1628858559.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.879974 m, bearing: 275.409702 deg, deltaT: 4.852015 s, approachRate: -0.445177 m/s, LOS rate: -12.285822 deg/s, posRepo size: 4 2021-08-13T12:42:39.740Z,1628858559.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.285822 deg/s. Setting heading cmd to target bearing of 275.409702deg and heading rate command to 0 deg/s. 2021-08-13T12:42:42.189Z,1628858562.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:42.521Z,1628858562.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:42.521Z,1628858562.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:42.521Z,1628858562.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:42.522Z,1628858562.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:42.961Z,1628858562.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 210,000,0133B,187,80,80,5D,FF 2021-08-13T12:42:42.961Z,1628858562.961 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:42.962Z,1628858562.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:42.969Z,1628858562.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:43.413Z,1628858563.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:44.225Z,1628858564.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,0130F,186,80,80,B0,FF 2021-08-13T12:42:44.225Z,1628858564.225 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:44.229Z,1628858564.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124244.49*56 2021-08-13T12:42:44.245Z,1628858564.245 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T12:42:44.656Z,1628858564.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.239990 m, bearing: 331.067493 deg, deltaT: 5.002669 s, approachRate: -0.527715 m/s, LOS rate: 11.125619 deg/s, posRepo size: 4 2021-08-13T12:42:44.658Z,1628858564.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.239990 m, bearing: 331.067493 deg, approachRate: -0.527715 m/s, LOS rate: 11.125619 deg/s, cmd update: 12.000000 deg/s, cmd heading: 275.409702 deg, new cmd heading: 275.409702 deg. 2021-08-13T12:42:47.062Z,1628858567.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:47.445Z,1628858567.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:47.445Z,1628858567.445 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:47.445Z,1628858567.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:47.446Z,1628858567.446 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:47.861Z,1628858567.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F40,000,0130F,186,80,80,B0,FF 2021-08-13T12:42:47.861Z,1628858567.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:47.861Z,1628858567.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:47.863Z,1628858567.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:48.257Z,1628858568.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:49.066Z,1628858569.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124249.41*53 2021-08-13T12:42:49.884Z,1628858569.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,04678,186,80,80,B0,FF 2021-08-13T12:42:49.885Z,1628858569.885 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:42:50.415Z,1628858570.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1044.900024 m, bearing: 329.464147 deg, deltaT: 5.715232 s, approachRate: 138.167618 m/s, LOS rate: -0.280539 deg/s, posRepo size: 4 2021-08-13T12:42:50.422Z,1628858570.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 1044.900024 m, bearing: 329.464147 deg, approachRate: 138.167618 m/s, LOS rate: -0.280539 deg/s, cmd update: -0.841617 deg/s, cmd heading: 343.974584 deg, new cmd heading: 348.683144 deg. 2021-08-13T12:42:52.794Z,1628858572.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:53.161Z,1628858573.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:53.161Z,1628858573.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:53.161Z,1628858573.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:53.162Z,1628858573.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:53.566Z,1628858573.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A5,000,04678,186,80,80,B0,FF 2021-08-13T12:42:53.567Z,1628858573.567 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:53.567Z,1628858573.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:53.569Z,1628858573.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:54.016Z,1628858574.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:42:54.057Z,1628858574.057 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T12:42:54.802Z,1628858574.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124255.09*52 2021-08-13T12:42:55.613Z,1628858575.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:57.201Z,1628858577.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 8,186,80,80,B0,FF 2021-08-13T12:42:57.201Z,1628858577.201 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 8,186,80,80,B0,FF 2021-08-13T12:42:57.201Z,1628858577.201 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:42:58.443Z,1628858578.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:42:58.825Z,1628858578.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:42:58.825Z,1628858578.825 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:42:58.825Z,1628858578.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:42:58.826Z,1628858578.826 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:42:59.237Z,1628858579.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 8,186,80,80,B0,FF 2021-08-13T12:42:59.237Z,1628858579.237 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:42:59.237Z,1628858579.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:42:59.239Z,1628858579.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:42:59.638Z,1628858579.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:00.461Z,1628858580.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,0126F,185,80,80,85,FF 2021-08-13T12:43:00.461Z,1628858580.461 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:00.483Z,1628858580.483 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124300.76*5B 2021-08-13T12:43:00.904Z,1628858580.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.639984 m, bearing: 328.315200 deg, deltaT: 10.465557 s, approachRate: -76.370522 m/s, LOS rate: -0.109784 deg/s, posRepo size: 4 2021-08-13T12:43:00.906Z,1628858580.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.639984 m, bearing: 328.315200 deg, approachRate: -76.370522 m/s, LOS rate: -0.109784 deg/s, cmd update: -0.329351 deg/s, cmd heading: 335.157670 deg, new cmd heading: 334.821570 deg. 2021-08-13T12:43:03.321Z,1628858583.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:03.669Z,1628858583.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:03.669Z,1628858583.669 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:03.670Z,1628858583.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:03.670Z,1628858583.670 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:04.097Z,1628858584.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDA,000,0126F,185,80,80,85,FF 2021-08-13T12:43:04.097Z,1628858584.097 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:04.097Z,1628858584.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:04.099Z,1628858584.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:04.485Z,1628858584.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:05.301Z,1628858585.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,01241,184,80,80,A8,FF 2021-08-13T12:43:05.301Z,1628858585.301 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:05.304Z,1628858585.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124305.62*5B 2021-08-13T12:43:05.740Z,1628858585.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.879990 m, bearing: 325.600473 deg, deltaT: 4.868739 s, approachRate: -0.566881 m/s, LOS rate: -0.557583 deg/s, posRepo size: 4 2021-08-13T12:43:05.742Z,1628858585.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 242.879990 m, bearing: 325.600473 deg, approachRate: -0.566881 m/s, LOS rate: -0.557583 deg/s, cmd update: -1.672750 deg/s, cmd heading: 333.556770 deg, new cmd heading: 333.431548 deg. 2021-08-13T12:43:08.175Z,1628858588.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:08.513Z,1628858588.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:08.513Z,1628858588.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:08.513Z,1628858588.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:08.514Z,1628858588.514 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:08.945Z,1628858588.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBD,000,01241,184,80,80,A8,FF 2021-08-13T12:43:08.945Z,1628858588.945 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:08.946Z,1628858588.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:08.957Z,1628858588.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:09.378Z,1628858589.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:10.193Z,1628858590.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,01211,186,80,80,4B,FF 2021-08-13T12:43:10.193Z,1628858590.193 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:10.220Z,1628858590.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124310.48*57 2021-08-13T12:43:10.604Z,1628858590.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.000000 m, bearing: 323.857080 deg, deltaT: 4.913823 s, approachRate: -0.586100 m/s, LOS rate: -0.354793 deg/s, posRepo size: 4 2021-08-13T12:43:10.606Z,1628858590.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.000000 m, bearing: 323.857080 deg, approachRate: -0.586100 m/s, LOS rate: -0.354793 deg/s, cmd update: -1.064380 deg/s, cmd heading: 325.323458 deg, new cmd heading: 324.785240 deg. 2021-08-13T12:43:13.065Z,1628858593.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:13.406Z,1628858593.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:13.407Z,1628858593.407 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:13.407Z,1628858593.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:13.408Z,1628858593.408 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:13.817Z,1628858593.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05E,000,01211,186,80,80,4B,FF 2021-08-13T12:43:13.817Z,1628858593.817 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:13.817Z,1628858593.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:13.819Z,1628858593.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:14.290Z,1628858594.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:15.037Z,1628858595.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,011E5,183,80,80,72,FF 2021-08-13T12:43:15.038Z,1628858595.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:15.041Z,1628858595.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124315.34*59 2021-08-13T12:43:15.477Z,1628858595.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.359985 m, bearing: 324.213616 deg, deltaT: 4.810380 s, approachRate: -0.548816 m/s, LOS rate: 0.074118 deg/s, posRepo size: 4 2021-08-13T12:43:15.479Z,1628858595.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 237.359985 m, bearing: 324.213616 deg, approachRate: -0.548816 m/s, LOS rate: 0.074118 deg/s, cmd update: 0.222354 deg/s, cmd heading: 320.207661 deg, new cmd heading: 319.793939 deg. 2021-08-13T12:43:17.898Z,1628858597.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:18.249Z,1628858598.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:18.249Z,1628858598.249 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:18.249Z,1628858598.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:18.250Z,1628858598.250 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:18.653Z,1628858598.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 016,000,011E5,183,80,80,72,FF 2021-08-13T12:43:18.653Z,1628858598.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:18.653Z,1628858598.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:18.655Z,1628858598.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:19.069Z,1628858599.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:19.497Z,1628858599.497 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T12:43:19.497Z,1628858599.497 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T12:43:19.497Z,1628858599.497 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T12:43:19.497Z,1628858599.497 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:43:19.498Z,1628858599.498 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T12:43:19.498Z,1628858599.498 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T12:43:19.499Z,1628858599.499 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2021-08-13T12:43:19.890Z,1628858599.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,011B8,186,80,80,94,FF 2021-08-13T12:43:19.890Z,1628858599.890 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:19.924Z,1628858599.924 [Micromodem](INFO): Nmea in: $SNTTA,0.158444,,,,124320.18*47 2021-08-13T12:43:20.098Z,1628858600.098 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T12:43:20.098Z,1628858600.098 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T12:43:20.098Z,1628858600.098 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T12:43:20.099Z,1628858600.099 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:43:20.099Z,1628858600.099 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T12:43:20.323Z,1628858600.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.659988 m, bearing: 327.749332 deg, deltaT: 4.994654 s, approachRate: -0.540577 m/s, LOS rate: 0.707900 deg/s, posRepo size: 4 2021-08-13T12:43:20.343Z,1628858600.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 234.659988 m, bearing: 327.749332 deg, approachRate: -0.540577 m/s, LOS rate: 0.707900 deg/s, cmd update: 2.123700 deg/s, cmd heading: 321.316785 deg, new cmd heading: 321.371750 deg. 2021-08-13T12:43:22.742Z,1628858602.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:23.109Z,1628858603.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:23.109Z,1628858603.109 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:23.109Z,1628858603.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:23.110Z,1628858603.110 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:23.514Z,1628858603.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBD,000,011B8,186,80,80,94,FF 2021-08-13T12:43:23.514Z,1628858603.514 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:23.514Z,1628858603.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:23.515Z,1628858603.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:23.992Z,1628858603.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:24.757Z,1628858604.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,0117B,189,80,80,70,FF 2021-08-13T12:43:24.758Z,1628858604.758 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:24.761Z,1628858604.761 [Micromodem](INFO): Nmea in: $SNTTA,0.145196,,,,124325.04*49 2021-08-13T12:43:25.152Z,1628858605.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.000000 m, bearing: 335.871165 deg, deltaT: 4.776694 s, approachRate: -0.766218 m/s, LOS rate: 1.700304 deg/s, posRepo size: 4 2021-08-13T12:43:25.154Z,1628858605.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.000000 m, bearing: 335.871165 deg, approachRate: -0.766218 m/s, LOS rate: 1.700304 deg/s, cmd update: 5.100912 deg/s, cmd heading: 331.443568 deg, new cmd heading: 332.095134 deg. 2021-08-13T12:43:27.567Z,1628858607.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:28.009Z,1628858608.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:28.009Z,1628858608.009 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:28.009Z,1628858608.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:28.011Z,1628858608.011 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:28.401Z,1628858608.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D65,000,0117B,189,80,80,70,FF 2021-08-13T12:43:28.401Z,1628858608.401 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:28.401Z,1628858608.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:28.403Z,1628858608.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:28.796Z,1628858608.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:29.621Z,1628858609.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,01154,18A,80,80,5F,FF 2021-08-13T12:43:29.622Z,1628858609.622 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:29.625Z,1628858609.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124329.93*5B 2021-08-13T12:43:30.115Z,1628858610.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.659988 m, bearing: 332.783291 deg, deltaT: 4.833083 s, approachRate: -0.484165 m/s, LOS rate: -0.638904 deg/s, posRepo size: 4 2021-08-13T12:43:30.117Z,1628858610.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.659988 m, bearing: 332.783291 deg, approachRate: -0.484165 m/s, LOS rate: -0.638904 deg/s, cmd update: -1.916711 deg/s, cmd heading: 356.026915 deg, new cmd heading: 358.324734 deg. 2021-08-13T12:43:32.493Z,1628858612.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:32.833Z,1628858612.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:32.833Z,1628858612.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:32.833Z,1628858612.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:32.834Z,1628858612.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:33.245Z,1628858613.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DAA,000,01154,18A,80,80,5F,FF 2021-08-13T12:43:33.245Z,1628858613.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:33.246Z,1628858613.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:33.247Z,1628858613.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:33.652Z,1628858613.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:34.478Z,1628858614.478 [Micromodem](INFO): Nmea in: $SNTTA,,0.280023,,,124334.77*48 2021-08-13T12:43:35.309Z,1628858615.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:36.885Z,1628858616.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 4,18A,80,80,5F,FF 2021-08-13T12:43:36.885Z,1628858616.885 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 4,18A,80,80,5F,FF 2021-08-13T12:43:36.885Z,1628858616.885 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:43:38.155Z,1628858618.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:38.497Z,1628858618.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:38.497Z,1628858618.497 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:38.498Z,1628858618.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:38.499Z,1628858618.499 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:38.901Z,1628858618.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 4,18A,80,80,5F,FF 2021-08-13T12:43:38.901Z,1628858618.901 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:38.901Z,1628858618.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:38.935Z,1628858618.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:39.309Z,1628858619.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:40.113Z,1628858620.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,010EA,186,80,80,B1,FF 2021-08-13T12:43:40.113Z,1628858620.113 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:40.117Z,1628858620.117 [Micromodem](INFO): Nmea in: $SNTTA,0.436522,0.436585,,,124340.46*51 2021-08-13T12:43:40.544Z,1628858620.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.299988 m, bearing: 332.228160 deg, deltaT: 10.517867 s, approachRate: -0.604685 m/s, LOS rate: -0.052780 deg/s, posRepo size: 4 2021-08-13T12:43:40.546Z,1628858620.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 222.299988 m, bearing: 332.228160 deg, approachRate: -0.604685 m/s, LOS rate: -0.052780 deg/s, cmd update: -0.158339 deg/s, cmd heading: 335.812771 deg, new cmd heading: 335.174067 deg. 2021-08-13T12:43:42.974Z,1628858622.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:43.341Z,1628858623.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:43.341Z,1628858623.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:43.341Z,1628858623.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:43.342Z,1628858623.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:43.741Z,1628858623.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06C,000,010EA,186,80,80,B1,FF 2021-08-13T12:43:43.741Z,1628858623.741 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:43.742Z,1628858623.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:43.743Z,1628858623.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:44.152Z,1628858624.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:45.004Z,1628858625.004 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,010C0,184,80,80,9F,FF 2021-08-13T12:43:45.005Z,1628858625.005 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:45.007Z,1628858625.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124345.27*5E 2021-08-13T12:43:45.400Z,1628858625.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.779984 m, bearing: 327.166854 deg, deltaT: 4.819479 s, approachRate: -0.522879 m/s, LOS rate: -1.050177 deg/s, posRepo size: 4 2021-08-13T12:43:45.402Z,1628858625.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 219.779984 m, bearing: 327.166854 deg, approachRate: -0.522879 m/s, LOS rate: -1.050177 deg/s, cmd update: -3.150531 deg/s, cmd heading: 335.049050 deg, new cmd heading: 334.991101 deg. 2021-08-13T12:43:47.814Z,1628858627.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:48.189Z,1628858628.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:48.189Z,1628858628.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:48.189Z,1628858628.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:48.190Z,1628858628.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:48.589Z,1628858628.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 055,000,010C0,184,80,80,9F,FF 2021-08-13T12:43:48.589Z,1628858628.589 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:48.590Z,1628858628.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:48.591Z,1628858628.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:49.020Z,1628858629.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:49.837Z,1628858629.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,01098,186,80,80,BA,FF 2021-08-13T12:43:49.837Z,1628858629.837 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:49.841Z,1628858629.841 [Micromodem](INFO): Nmea in: $SNTTA,0.147577,,,,124350.12*45 2021-08-13T12:43:50.273Z,1628858630.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.379990 m, bearing: 335.816578 deg, deltaT: 4.822278 s, approachRate: -0.497689 m/s, LOS rate: 1.793701 deg/s, posRepo size: 4 2021-08-13T12:43:50.275Z,1628858630.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.379990 m, bearing: 335.816578 deg, approachRate: -0.497689 m/s, LOS rate: 1.793701 deg/s, cmd update: 5.381103 deg/s, cmd heading: 319.855504 deg, new cmd heading: 318.542857 deg. 2021-08-13T12:43:52.669Z,1628858632.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:53.064Z,1628858633.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:53.064Z,1628858633.064 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:53.065Z,1628858633.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:53.065Z,1628858633.065 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:53.453Z,1628858633.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F66,000,01098,186,80,80,BA,FF 2021-08-13T12:43:53.453Z,1628858633.453 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:53.453Z,1628858633.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:53.455Z,1628858633.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:53.848Z,1628858633.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:54.689Z,1628858634.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,01076,186,80,80,97,FF 2021-08-13T12:43:54.689Z,1628858634.689 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:43:54.711Z,1628858634.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124354.98*5A 2021-08-13T12:43:55.100Z,1628858635.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.339981 m, bearing: 339.442070 deg, deltaT: 4.870722 s, approachRate: -0.418831 m/s, LOS rate: 0.744344 deg/s, posRepo size: 4 2021-08-13T12:43:55.102Z,1628858635.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.339981 m, bearing: 339.442070 deg, approachRate: -0.418831 m/s, LOS rate: 0.744344 deg/s, cmd update: 2.233032 deg/s, cmd heading: 346.065399 deg, new cmd heading: 348.070446 deg. 2021-08-13T12:43:57.507Z,1628858637.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:43:57.885Z,1628858637.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:43:57.885Z,1628858637.885 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:43:57.886Z,1628858637.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:43:57.887Z,1628858637.887 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:43:58.297Z,1628858638.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F09,000,01076,186,80,80,97,FF 2021-08-13T12:43:58.297Z,1628858638.297 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:43:58.297Z,1628858638.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:43:58.299Z,1628858638.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:43:58.744Z,1628858638.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:43:59.147Z,1628858639.147 [Micromodem](INFO): Nmea in: $SNTTA,0.145041,0.142404,,,124359.83*5F 2021-08-13T12:43:59.546Z,1628858639.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E3,000,01064,186,80,80,B3,FF 2021-08-13T12:43:59.546Z,1628858639.546 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:00.092Z,1628858640.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.259995 m, bearing: 320.176701 deg, deltaT: 4.836585 s, approachRate: -0.223295 m/s, LOS rate: -3.983258 deg/s, posRepo size: 4 2021-08-13T12:44:00.094Z,1628858640.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 214.259995 m, bearing: 320.176701 deg, approachRate: -0.223295 m/s, LOS rate: -3.983258 deg/s, cmd update: -11.949775 deg/s, cmd heading: 356.865583 deg, new cmd heading: 358.045296 deg. 2021-08-13T12:44:02.114Z,1628858642.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:02.385Z,1628858642.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:02.385Z,1628858642.385 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:02.385Z,1628858642.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:02.386Z,1628858642.386 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:02.775Z,1628858642.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1E3,000,01064,186,80,80,B3,FF 2021-08-13T12:44:02.775Z,1628858642.775 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:02.775Z,1628858642.775 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:02.777Z,1628858642.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:03.208Z,1628858643.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:04.037Z,1628858644.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,01021,188,80,80,91,FF 2021-08-13T12:44:04.037Z,1628858644.037 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:04.040Z,1628858644.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124404.30*5A 2021-08-13T12:44:04.443Z,1628858644.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.239990 m, bearing: 323.860168 deg, deltaT: 4.512778 s, approachRate: -0.890805 m/s, LOS rate: 0.816230 deg/s, posRepo size: 4 2021-08-13T12:44:04.462Z,1628858644.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.239990 m, bearing: 323.860168 deg, approachRate: -0.890805 m/s, LOS rate: 0.816230 deg/s, cmd update: 2.448691 deg/s, cmd heading: 302.945285 deg, new cmd heading: 298.552058 deg. 2021-08-13T12:44:06.871Z,1628858646.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:07.237Z,1628858647.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:07.237Z,1628858647.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:07.237Z,1628858647.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:07.238Z,1628858647.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:07.625Z,1628858647.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 21D,000,01021,188,80,80,91,FF 2021-08-13T12:44:07.625Z,1628858647.625 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:07.626Z,1628858647.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:07.627Z,1628858647.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:08.065Z,1628858648.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:08.870Z,1628858648.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00FEF,183,80,80,46,FF 2021-08-13T12:44:08.871Z,1628858648.871 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:08.875Z,1628858648.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124409.15*50 2021-08-13T12:44:09.141Z,1628858649.141 [CTD_Seabird](ERROR): Failed to parse device response: 9.56,23.582.95 2021-08-13T12:44:09.317Z,1628858649.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.239990 m, bearing: 331.584237 deg, deltaT: 4.916976 s, approachRate: -0.610131 m/s, LOS rate: 1.570898 deg/s, posRepo size: 4 2021-08-13T12:44:09.319Z,1628858649.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.239990 m, bearing: 331.584237 deg, approachRate: -0.610131 m/s, LOS rate: 1.570898 deg/s, cmd update: 4.712695 deg/s, cmd heading: 314.895054 deg, new cmd heading: 315.769538 deg. 2021-08-13T12:44:11.696Z,1628858651.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:12.093Z,1628858652.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:12.093Z,1628858652.093 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:12.094Z,1628858652.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:12.095Z,1628858652.095 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:12.500Z,1628858652.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 00B,000,00FEF,183,80,80,46,FF 2021-08-13T12:44:12.500Z,1628858652.500 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:12.501Z,1628858652.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:12.502Z,1628858652.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:12.906Z,1628858652.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:13.724Z,1628858653.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00FBA,186,80,80,93,FF 2021-08-13T12:44:13.725Z,1628858653.725 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:13.730Z,1628858653.730 [Micromodem](INFO): Nmea in: $SNTTA,0.138323,,,,124414.03*4D 2021-08-13T12:44:14.194Z,1628858654.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.059982 m, bearing: 328.761047 deg, deltaT: 4.774041 s, approachRate: -0.666104 m/s, LOS rate: -0.591363 deg/s, posRepo size: 4 2021-08-13T12:44:14.201Z,1628858654.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 204.059982 m, bearing: 328.761047 deg, approachRate: -0.666104 m/s, LOS rate: -0.591363 deg/s, cmd update: -1.774088 deg/s, cmd heading: 337.491212 deg, new cmd heading: 339.582597 deg. 2021-08-13T12:44:16.619Z,1628858656.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:17.044Z,1628858657.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:17.044Z,1628858657.044 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:17.044Z,1628858657.044 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:17.045Z,1628858657.045 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:17.414Z,1628858657.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F1F,000,00FBA,186,80,80,93,FF 2021-08-13T12:44:17.414Z,1628858657.414 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:17.414Z,1628858657.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:17.416Z,1628858657.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:17.833Z,1628858657.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:18.251Z,1628858658.251 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:44:18.645Z,1628858658.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00F84,186,80,80,A8,FF 2021-08-13T12:44:18.646Z,1628858658.646 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:18.649Z,1628858658.649 [Micromodem](INFO): Nmea in: $SNTTA,0.136036,,,,124418.94*46 2021-08-13T12:44:19.085Z,1628858659.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.819977 m, bearing: 328.041254 deg, deltaT: 4.897714 s, approachRate: -0.661534 m/s, LOS rate: -0.146965 deg/s, posRepo size: 4 2021-08-13T12:44:19.087Z,1628858659.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.819977 m, bearing: 328.041254 deg, approachRate: -0.661534 m/s, LOS rate: -0.146965 deg/s, cmd update: -0.440895 deg/s, cmd heading: 328.773456 deg, new cmd heading: 328.029574 deg. 2021-08-13T12:44:20.302Z,1628858660.302 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:44:20.410Z,1628858660.410 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.260429 2021-08-13T12:44:20.686Z,1628858660.686 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T12:44:20.687Z,1628858660.687 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T12:44:20.687Z,1628858660.687 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T12:44:20.687Z,1628858660.687 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:44:20.687Z,1628858660.687 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T12:44:21.365Z,1628858661.365 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 69661661090000005D00000400260000000000000000151D80030C5669C08C7998704BD40E9D0445877EA3D2A876964A4B817232C115DD9EB90D2100 2021-08-13T12:44:21.365Z,1628858661.365 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T12:44:21.449Z,1628858661.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:21.677Z,1628858661.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:21.677Z,1628858661.677 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:21.677Z,1628858661.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:21.678Z,1628858661.678 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:21.686Z,1628858661.686 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T12:44:22.085Z,1628858662.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05B,000,00F84,186,80,80,A8,FF 2021-08-13T12:44:22.085Z,1628858662.085 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:22.085Z,1628858662.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:22.087Z,1628858662.087 [Micromodem](INFO): Nmea in: $CADRQ,124422,1,10,0,64,1*75 2021-08-13T12:44:22.087Z,1628858662.087 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661090000005D00000400260000000000000000151D80030C5669C08C7998704BD40E9D0445877EA3D2A876964A4B817232C115DD9EB90D2100*36 2021-08-13T12:44:22.482Z,1628858662.482 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T12:44:22.482Z,1628858662.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:22.887Z,1628858662.887 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T12:44:22.887Z,1628858662.887 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74 2021-08-13T12:44:24.227Z,1628858664.227 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T12:44:24.227Z,1628858664.227 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62 2021-08-13T12:44:24.371Z,1628858664.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:24.623Z,1628858664.623 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,124423.633233,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55 2021-08-13T12:44:24.623Z,1628858664.623 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,124423.633233,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55 2021-08-13T12:44:26.347Z,1628858666.347 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T12:44:26.376Z,1628858666.376 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T123241/Courier0009.lzma.parts 2021-08-13T12:44:26.377Z,1628858666.377 [Micromodem](INFO): Packets left to send: 0 2021-08-13T12:44:27.051Z,1628858667.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:27.314Z,1628858667.314 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813124426.696372,06,32767,45,0177,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,14.1,5.52,08,-2.52,-01,-0.62,50,14500,4000*42 2021-08-13T12:44:27.314Z,1628858667.314 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813124426.696372,06,32767,45,0177,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,14.1,5.52,08,-2.52,-01,-0.62,50,14500,4000*42 2021-08-13T12:44:27.471Z,1628858667.471 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 696616610C0000005D00000400260000000000000000151D80030C5669C08C79985D8536BAC81D9CB41A99711AA5520937CD4D5DAD0ABC8952BAEE00 2021-08-13T12:44:27.893Z,1628858667.893 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.214437 2021-08-13T12:44:29.690Z,1628858669.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:30.029Z,1628858670.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:30.029Z,1628858670.029 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:30.029Z,1628858670.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:30.030Z,1628858670.030 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:30.056Z,1628858670.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05B,000,00F84,186,80,80,A8,FF 2021-08-13T12:44:30.056Z,1628858670.056 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:30.057Z,1628858670.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:32.466Z,1628858672.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:33.614Z,1628858673.614 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:34.244Z,1628858674.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:34.264Z,1628858674.264 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T12:44:34.625Z,1628858674.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00ED7,185,80,80,87,FF 2021-08-13T12:44:34.625Z,1628858674.625 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:34.648Z,1628858674.648 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T12:44:35.058Z,1628858675.058 [Micromodem](INFO): Nmea in: $CADRQ,124435,1,10,0,64,1*73 2021-08-13T12:44:35.058Z,1628858675.058 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,696616610C0000005D00000400260000000000000000151D80030C5669C08C79985D8536BAC81D9CB41A99711AA5520937CD4D5DAD0ABC8952BAEE00*30 2021-08-13T12:44:35.191Z,1628858675.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.439987 m, bearing: 329.314511 deg, deltaT: 16.015200 s, approachRate: -0.648134 m/s, LOS rate: 0.079503 deg/s, posRepo size: 4 2021-08-13T12:44:35.197Z,1628858675.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.439987 m, bearing: 329.314511 deg, approachRate: -0.648134 m/s, LOS rate: 0.079503 deg/s, cmd update: 0.238509 deg/s, cmd heading: 321.714261 deg, new cmd heading: 321.487230 deg. 2021-08-13T12:44:35.445Z,1628858675.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124435.14*5E 2021-08-13T12:44:35.445Z,1628858675.445 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,124435.14*5E 2021-08-13T12:44:36.809Z,1628858676.809 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T12:44:37.202Z,1628858677.202 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T12:44:37.310Z,1628858677.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:37.613Z,1628858677.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:37.613Z,1628858677.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:37.613Z,1628858677.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:37.614Z,1628858677.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:37.619Z,1628858677.619 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T12:44:38.037Z,1628858678.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02A,000,00ED7,185,80,80,87,FF 2021-08-13T12:44:38.037Z,1628858678.037 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:38.037Z,1628858678.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:38.040Z,1628858678.040 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,124436.605148,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B 2021-08-13T12:44:38.041Z,1628858678.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:38.502Z,1628858678.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:40.283Z,1628858680.283 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:44:40.310Z,1628858680.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:41.407Z,1628858681.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 7,185,80,80,87,FF 2021-08-13T12:44:41.407Z,1628858681.407 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 7,185,80,80,87,FF 2021-08-13T12:44:41.407Z,1628858681.407 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:44:43.215Z,1628858683.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:43.577Z,1628858683.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:43.577Z,1628858683.577 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:43.577Z,1628858683.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:43.578Z,1628858683.578 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:44.033Z,1628858684.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 7,185,80,80,87,FF 2021-08-13T12:44:44.033Z,1628858684.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:44.033Z,1628858684.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:44.035Z,1628858684.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:44.134Z,1628858684.134 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T12:44:44.488Z,1628858684.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:44.541Z,1628858684.541 [Radio_Surface](INFO): Powering down 2021-08-13T12:44:44.890Z,1628858684.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00E55,183,80,80,96,FF 2021-08-13T12:44:44.891Z,1628858684.891 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:45.313Z,1628858685.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124445.56*5F 2021-08-13T12:44:45.355Z,1628858685.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.639999 m, bearing: 325.478813 deg, deltaT: 10.259394 s, approachRate: -0.760278 m/s, LOS rate: -0.373872 deg/s, posRepo size: 4 2021-08-13T12:44:45.363Z,1628858685.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.639999 m, bearing: 325.478813 deg, approachRate: -0.760278 m/s, LOS rate: -0.373872 deg/s, cmd update: -1.121615 deg/s, cmd heading: 324.155717 deg, new cmd heading: 324.261346 deg. 2021-08-13T12:44:47.821Z,1628858687.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:48.173Z,1628858688.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:48.174Z,1628858688.174 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:48.174Z,1628858688.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:48.175Z,1628858688.175 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:48.573Z,1628858688.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 053,000,00E55,183,80,80,96,FF 2021-08-13T12:44:48.573Z,1628858688.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:48.574Z,1628858688.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:48.575Z,1628858688.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:49.193Z,1628858689.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:49.597Z,1628858689.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,00E1E,187,80,80,93,FF 2021-08-13T12:44:49.597Z,1628858689.597 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:50.041Z,1628858690.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124450.10*59 2021-08-13T12:44:50.111Z,1628858690.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.339996 m, bearing: 324.052178 deg, deltaT: 4.709564 s, approachRate: -0.700702 m/s, LOS rate: -0.302923 deg/s, posRepo size: 4 2021-08-13T12:44:50.114Z,1628858690.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 324.052178 deg, approachRate: -0.700702 m/s, LOS rate: -0.302923 deg/s, cmd update: -0.908769 deg/s, cmd heading: 318.851501 deg, new cmd heading: 318.323841 deg. 2021-08-13T12:44:52.478Z,1628858692.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:52.832Z,1628858692.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:52.832Z,1628858692.832 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:52.833Z,1628858692.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:52.833Z,1628858692.833 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:53.368Z,1628858693.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 066,000,00E1E,187,80,80,93,FF 2021-08-13T12:44:53.368Z,1628858693.368 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:53.368Z,1628858693.368 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:53.370Z,1628858693.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:53.800Z,1628858693.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:54.214Z,1628858694.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,00DE8,184,80,80,A0,FF 2021-08-13T12:44:54.214Z,1628858694.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:54.626Z,1628858694.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124454.89*5D 2021-08-13T12:44:54.658Z,1628858694.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.099991 m, bearing: 325.643612 deg, deltaT: 4.689063 s, approachRate: -0.690971 m/s, LOS rate: 0.339393 deg/s, posRepo size: 4 2021-08-13T12:44:54.660Z,1628858694.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.099991 m, bearing: 325.643612 deg, approachRate: -0.690971 m/s, LOS rate: 0.339393 deg/s, cmd update: 1.018178 deg/s, cmd heading: 314.586347 deg, new cmd heading: 314.292110 deg. 2021-08-13T12:44:56.552Z,1628858696.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-08-13T12:44:57.127Z,1628858697.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:44:57.493Z,1628858697.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:44:57.493Z,1628858697.493 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:44:57.493Z,1628858697.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:44:57.494Z,1628858697.494 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:44:57.556Z,1628858697.556 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-08-13T12:44:57.913Z,1628858697.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01C,000,00DE8,184,80,80,A0,FF 2021-08-13T12:44:57.913Z,1628858697.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:44:57.913Z,1628858697.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:44:57.942Z,1628858697.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:44:58.473Z,1628858698.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:44:58.853Z,1628858698.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00DB2,187,80,80,95,FF 2021-08-13T12:44:58.853Z,1628858698.853 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:44:59.267Z,1628858699.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124459.48*5D 2021-08-13T12:44:59.477Z,1628858699.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.860001 m, bearing: 331.129729 deg, deltaT: 4.581395 s, approachRate: -0.707206 m/s, LOS rate: 1.197477 deg/s, posRepo size: 4 2021-08-13T12:44:59.479Z,1628858699.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 331.129729 deg, approachRate: -0.707206 m/s, LOS rate: 1.197477 deg/s, cmd update: 3.592432 deg/s, cmd heading: 319.247021 deg, new cmd heading: 319.822259 deg. 2021-08-13T12:45:01.470Z,1628858701.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:01.673Z,1628858701.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:01.673Z,1628858701.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:01.673Z,1628858701.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:01.674Z,1628858701.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:02.093Z,1628858702.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5A,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:02.093Z,1628858702.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:02.093Z,1628858702.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:02.095Z,1628858702.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:02.484Z,1628858702.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:02.898Z,1628858702.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:02.899Z,1628858702.899 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:03.325Z,1628858703.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124503.62*5B 2021-08-13T12:45:03.401Z,1628858703.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.860001 m, bearing: 329.759047 deg, deltaT: 4.003098 s, approachRate: 0.000000 m/s, LOS rate: -0.342405 deg/s, posRepo size: 4 2021-08-13T12:45:03.403Z,1628858703.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 329.759047 deg, approachRate: 0.000000 m/s, LOS rate: -0.342405 deg/s, cmd update: -1.027216 deg/s, cmd heading: 333.647840 deg, new cmd heading: 335.358369 deg. 2021-08-13T12:45:06.004Z,1628858706.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:06.286Z,1628858706.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:06.286Z,1628858706.286 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:06.287Z,1628858706.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:06.288Z,1628858706.288 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:06.665Z,1628858706.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA4,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:06.665Z,1628858706.665 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:06.665Z,1628858706.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:06.667Z,1628858706.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:07.048Z,1628858707.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:07.470Z,1628858707.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:07.470Z,1628858707.470 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:07.883Z,1628858707.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124508.19*5C 2021-08-13T12:45:08.173Z,1628858708.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.860001 m, bearing: 325.059658 deg, deltaT: 4.608986 s, approachRate: 0.000000 m/s, LOS rate: -1.019614 deg/s, posRepo size: 4 2021-08-13T12:45:08.175Z,1628858708.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 325.059658 deg, approachRate: 0.000000 m/s, LOS rate: -1.019614 deg/s, cmd update: -3.058843 deg/s, cmd heading: 328.919479 deg, new cmd heading: 328.252690 deg. 2021-08-13T12:45:10.092Z,1628858710.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:10.385Z,1628858710.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:10.385Z,1628858710.385 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:10.385Z,1628858710.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:10.386Z,1628858710.386 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:10.798Z,1628858710.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0E8,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:10.798Z,1628858710.798 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:10.798Z,1628858710.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:10.800Z,1628858710.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:11.196Z,1628858711.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:11.597Z,1628858711.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:11.598Z,1628858711.598 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:12.069Z,1628858712.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124512.32*5E 2021-08-13T12:45:12.088Z,1628858712.088 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T12:45:12.152Z,1628858712.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.860001 m, bearing: 325.551623 deg, deltaT: 4.091675 s, approachRate: 0.000000 m/s, LOS rate: 0.120236 deg/s, posRepo size: 4 2021-08-13T12:45:12.154Z,1628858712.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.860001 m, bearing: 325.551623 deg, approachRate: 0.000000 m/s, LOS rate: 0.120236 deg/s, cmd update: 0.360707 deg/s, cmd heading: 316.384201 deg, new cmd heading: 314.774317 deg. 2021-08-13T12:45:14.606Z,1628858714.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:14.882Z,1628858714.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:14.882Z,1628858714.882 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:14.882Z,1628858714.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:14.883Z,1628858714.883 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:15.269Z,1628858715.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0DE,000,00DB2,187,80,80,95,FF 2021-08-13T12:45:15.269Z,1628858715.269 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:15.269Z,1628858715.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:15.271Z,1628858715.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:15.677Z,1628858715.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:16.074Z,1628858716.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00CEC,187,80,80,95,FF 2021-08-13T12:45:16.075Z,1628858716.075 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:16.529Z,1628858716.529 [Micromodem](INFO): Nmea in: $SNTTA,0.112739,,,,124516.79*44 2021-08-13T12:45:16.548Z,1628858716.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.980011 m, bearing: 326.097328 deg, deltaT: 4.542844 s, approachRate: -2.615100 m/s, LOS rate: 0.120124 deg/s, posRepo size: 4 2021-08-13T12:45:16.550Z,1628858716.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.980011 m, bearing: 326.097328 deg, approachRate: -2.615100 m/s, LOS rate: 0.120124 deg/s, cmd update: 0.360372 deg/s, cmd heading: 318.021789 deg, new cmd heading: 318.161132 deg. 2021-08-13T12:45:19.127Z,1628858719.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:19.309Z,1628858719.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:19.309Z,1628858719.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:19.309Z,1628858719.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:19.310Z,1628858719.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:19.721Z,1628858719.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE2,000,00CEC,187,80,80,95,FF 2021-08-13T12:45:19.721Z,1628858719.721 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:19.721Z,1628858719.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:19.723Z,1628858719.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:20.121Z,1628858720.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:20.534Z,1628858720.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00CB8,185,80,80,95,FF 2021-08-13T12:45:20.535Z,1628858720.535 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:20.965Z,1628858720.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124521.25*58 2021-08-13T12:45:21.172Z,1628858721.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.859985 m, bearing: 324.938436 deg, deltaT: 4.425197 s, approachRate: -0.705059 m/s, LOS rate: -0.261885 deg/s, posRepo size: 4 2021-08-13T12:45:21.174Z,1628858721.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.859985 m, bearing: 324.938436 deg, approachRate: -0.705059 m/s, LOS rate: -0.261885 deg/s, cmd update: -0.785654 deg/s, cmd heading: 319.618240 deg, new cmd heading: 319.827288 deg. 2021-08-13T12:45:21.997Z,1628858721.997 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T12:45:23.165Z,1628858723.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:23.525Z,1628858723.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:23.525Z,1628858723.525 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:23.525Z,1628858723.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:23.526Z,1628858723.526 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:23.978Z,1628858723.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE2,000,00CB8,185,80,80,95,FF 2021-08-13T12:45:23.979Z,1628858723.979 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:23.980Z,1628858723.980 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:23.985Z,1628858723.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:24.332Z,1628858724.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:25.147Z,1628858725.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00C82,184,80,80,76,FF 2021-08-13T12:45:25.148Z,1628858725.148 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:25.156Z,1628858725.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124525.51*5F 2021-08-13T12:45:25.684Z,1628858725.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.619995 m, bearing: 323.002378 deg, deltaT: 4.796710 s, approachRate: -0.675461 m/s, LOS rate: -0.403622 deg/s, posRepo size: 4 2021-08-13T12:45:25.686Z,1628858725.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.619995 m, bearing: 323.002378 deg, approachRate: -0.675461 m/s, LOS rate: -0.403622 deg/s, cmd update: -1.210866 deg/s, cmd heading: 315.849741 deg, new cmd heading: 315.617607 deg. 2021-08-13T12:45:28.132Z,1628858728.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:28.478Z,1628858728.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:28.478Z,1628858728.478 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:28.478Z,1628858728.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:28.479Z,1628858728.479 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:28.870Z,1628858728.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,00C82,184,80,80,76,FF 2021-08-13T12:45:28.870Z,1628858728.870 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:28.871Z,1628858728.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:28.874Z,1628858728.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:29.284Z,1628858729.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:29.691Z,1628858729.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00C49,183,80,80,C7,FF 2021-08-13T12:45:29.691Z,1628858729.691 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:30.121Z,1628858730.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124530.40*5B 2021-08-13T12:45:30.185Z,1628858730.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.199997 m, bearing: 322.434215 deg, deltaT: 4.321371 s, approachRate: -0.791415 m/s, LOS rate: -0.131477 deg/s, posRepo size: 4 2021-08-13T12:45:30.187Z,1628858730.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.199997 m, bearing: 322.434215 deg, approachRate: -0.791415 m/s, LOS rate: -0.131477 deg/s, cmd update: -0.394432 deg/s, cmd heading: 310.618764 deg, new cmd heading: 310.041344 deg. 2021-08-13T12:45:31.982Z,1628858731.982 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T12:45:32.219Z,1628858732.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:32.597Z,1628858732.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:32.597Z,1628858732.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:32.597Z,1628858732.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:32.598Z,1628858732.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:32.604Z,1628858732.604 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T12:45:33.025Z,1628858733.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF6,000,00C49,183,80,80,C7,FF 2021-08-13T12:45:33.025Z,1628858733.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:33.025Z,1628858733.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:33.027Z,1628858733.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:33.408Z,1628858733.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:33.604Z,1628858733.604 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 696616610C0000005D00000400260000000000000000151D80030C5669C08C79985D8536BAC81D9CB41A99711AA5520937CD4D5DAD0ABC8952BAEE00 2021-08-13T12:45:33.604Z,1628858733.604 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T12:45:33.865Z,1628858733.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00C19,187,80,80,B4,FF 2021-08-13T12:45:33.866Z,1628858733.866 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:33.870Z,1628858733.870 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T12:45:34.405Z,1628858734.405 [Micromodem](INFO): Nmea in: $CADRQ,124535,1,10,0,64,1*72 2021-08-13T12:45:34.406Z,1628858734.406 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,696616610C0000005D00000400260000000000000000151D80030C5669C08C79985D8536BAC81D9CB41A99711AA5520937CD4D5DAD0ABC8952BAEE00*30 2021-08-13T12:45:34.507Z,1628858734.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.320007 m, bearing: 323.240451 deg, deltaT: 4.468501 s, approachRate: -0.644509 m/s, LOS rate: 0.180426 deg/s, posRepo size: 4 2021-08-13T12:45:34.514Z,1628858734.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.320007 m, bearing: 323.240451 deg, approachRate: -0.644509 m/s, LOS rate: 0.180426 deg/s, cmd update: 0.541279 deg/s, cmd heading: 308.856111 deg, new cmd heading: 308.725790 deg. 2021-08-13T12:45:34.793Z,1628858734.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124534.55*5B 2021-08-13T12:45:34.793Z,1628858734.793 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,124534.55*5B 2021-08-13T12:45:36.053Z,1628858736.053 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T12:45:36.414Z,1628858736.414 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T12:45:36.827Z,1628858736.827 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T12:45:36.845Z,1628858736.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:37.209Z,1628858737.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:37.209Z,1628858737.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:37.209Z,1628858737.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:37.210Z,1628858737.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:37.225Z,1628858737.225 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,124535.951000,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A 2021-08-13T12:45:37.634Z,1628858737.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F97,000,00C19,187,80,80,B4,FF 2021-08-13T12:45:37.635Z,1628858737.635 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:37.635Z,1628858737.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:37.637Z,1628858737.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:38.029Z,1628858738.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:38.863Z,1628858738.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124539.16*51 2021-08-13T12:45:39.687Z,1628858739.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:41.266Z,1628858741.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 9,187,80,80,B4,FF 2021-08-13T12:45:41.266Z,1628858741.266 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 9,187,80,80,B4,FF 2021-08-13T12:45:41.266Z,1628858741.266 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:45:42.086Z,1628858742.086 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:45:42.503Z,1628858742.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:42.882Z,1628858742.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:42.882Z,1628858742.882 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:42.882Z,1628858742.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:42.883Z,1628858742.883 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:43.294Z,1628858743.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 9,187,80,80,B4,FF 2021-08-13T12:45:43.295Z,1628858743.295 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:43.295Z,1628858743.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:43.297Z,1628858743.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:43.697Z,1628858743.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:44.110Z,1628858744.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00B9D,186,80,80,B0,FF 2021-08-13T12:45:44.111Z,1628858744.111 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:44.541Z,1628858744.541 [Micromodem](INFO): Nmea in: $SNTTA,0.121555,,,,124544.82*4F 2021-08-13T12:45:44.716Z,1628858744.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.880005 m, bearing: 325.443132 deg, deltaT: 10.026262 s, approachRate: -0.742051 m/s, LOS rate: 0.219691 deg/s, posRepo size: 4 2021-08-13T12:45:44.718Z,1628858744.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.880005 m, bearing: 325.443132 deg, approachRate: -0.742051 m/s, LOS rate: 0.219691 deg/s, cmd update: 0.659074 deg/s, cmd heading: 314.281299 deg, new cmd heading: 314.560558 deg. 2021-08-13T12:45:46.742Z,1628858746.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:47.013Z,1628858747.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:47.013Z,1628858747.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:47.013Z,1628858747.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:47.014Z,1628858747.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:47.036Z,1628858747.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6E,000,00B9D,186,80,80,B0,FF 2021-08-13T12:45:47.037Z,1628858747.037 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:47.037Z,1628858747.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:47.038Z,1628858747.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:47.368Z,1628858747.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:48.173Z,1628858748.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00B71,187,80,80,B0,FF 2021-08-13T12:45:48.174Z,1628858748.174 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:48.177Z,1628858748.177 [Micromodem](INFO): Nmea in: $SNTTA,0.114313,0.345112,,,124548.56*56 2021-08-13T12:45:48.619Z,1628858748.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.240005 m, bearing: 326.265105 deg, deltaT: 4.055204 s, approachRate: -0.651015 m/s, LOS rate: 0.202696 deg/s, posRepo size: 4 2021-08-13T12:45:48.621Z,1628858748.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.240005 m, bearing: 326.265105 deg, approachRate: -0.651015 m/s, LOS rate: 0.202696 deg/s, cmd update: 0.608087 deg/s, cmd heading: 316.956886 deg, new cmd heading: 317.191617 deg. 2021-08-13T12:45:50.225Z,1628858750.225 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:45:51.221Z,1628858751.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:51.402Z,1628858751.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:51.402Z,1628858751.402 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:51.402Z,1628858751.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:51.404Z,1628858751.404 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:51.795Z,1628858751.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F85,000,00B71,187,80,80,B0,FF 2021-08-13T12:45:51.795Z,1628858751.795 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:51.795Z,1628858751.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:51.797Z,1628858751.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:52.219Z,1628858752.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:52.274Z,1628858752.274 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T12:45:52.606Z,1628858752.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00B38,186,80,80,A5,FF 2021-08-13T12:45:52.607Z,1628858752.607 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:53.056Z,1628858753.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124553.32*5B 2021-08-13T12:45:53.267Z,1628858753.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.820007 m, bearing: 327.011480 deg, deltaT: 4.403382 s, approachRate: -0.776675 m/s, LOS rate: 0.169501 deg/s, posRepo size: 4 2021-08-13T12:45:53.269Z,1628858753.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.820007 m, bearing: 327.011480 deg, approachRate: -0.776675 m/s, LOS rate: 0.169501 deg/s, cmd update: 0.508502 deg/s, cmd heading: 319.634367 deg, new cmd heading: 320.001829 deg. 2021-08-13T12:45:55.510Z,1628858755.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:55.879Z,1628858755.879 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:55.880Z,1628858755.880 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:55.881Z,1628858755.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:55.883Z,1628858755.883 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:45:56.293Z,1628858756.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA6,000,00B38,186,80,80,A5,FF 2021-08-13T12:45:56.293Z,1628858756.293 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:45:56.293Z,1628858756.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:45:56.296Z,1628858756.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:45:56.681Z,1628858756.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:45:57.102Z,1628858757.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00B00,185,80,80,C0,FF 2021-08-13T12:45:57.102Z,1628858757.102 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:45:57.513Z,1628858757.513 [Micromodem](INFO): Nmea in: $SNTTA,0.093495,,,,124557.82*48 2021-08-13T12:45:57.693Z,1628858757.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.460007 m, bearing: 327.929157 deg, deltaT: 4.505099 s, approachRate: -0.745822 m/s, LOS rate: 0.203697 deg/s, posRepo size: 4 2021-08-13T12:45:57.695Z,1628858757.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.460007 m, bearing: 327.929157 deg, approachRate: -0.745822 m/s, LOS rate: 0.203697 deg/s, cmd update: 0.611092 deg/s, cmd heading: 321.923302 deg, new cmd heading: 322.191630 deg. 2021-08-13T12:45:59.723Z,1628858759.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:45:59.962Z,1628858759.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:45:59.962Z,1628858759.962 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:45:59.963Z,1628858759.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:45:59.966Z,1628858759.966 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:00.338Z,1628858760.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDA,000,00B00,185,80,80,C0,FF 2021-08-13T12:46:00.339Z,1628858760.339 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:00.339Z,1628858760.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:00.341Z,1628858760.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:00.748Z,1628858760.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:01.150Z,1628858761.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00AD1,184,80,80,B0,FF 2021-08-13T12:46:01.150Z,1628858761.150 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:01.569Z,1628858761.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124601.87*51 2021-08-13T12:46:01.620Z,1628858761.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.640015 m, bearing: 327.102814 deg, deltaT: 4.061760 s, approachRate: -0.694278 m/s, LOS rate: -0.203445 deg/s, posRepo size: 4 2021-08-13T12:46:01.622Z,1628858761.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.640015 m, bearing: 327.102814 deg, approachRate: -0.694278 m/s, LOS rate: -0.203445 deg/s, cmd update: -0.610334 deg/s, cmd heading: 324.402576 deg, new cmd heading: 324.646168 deg. 2021-08-13T12:46:02.071Z,1628858762.071 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T12:46:04.238Z,1628858764.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:04.429Z,1628858764.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:04.429Z,1628858764.429 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:04.429Z,1628858764.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:04.430Z,1628858764.430 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:04.829Z,1628858764.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,00AD1,184,80,80,B0,FF 2021-08-13T12:46:04.829Z,1628858764.829 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:04.830Z,1628858764.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:04.831Z,1628858764.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:05.231Z,1628858765.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:05.641Z,1628858765.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00A9D,184,80,80,BE,FF 2021-08-13T12:46:05.641Z,1628858765.641 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:06.078Z,1628858766.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124606.35*5F 2021-08-13T12:46:06.283Z,1628858766.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 327.008093 deg, deltaT: 4.465907 s, approachRate: -0.698629 m/s, LOS rate: -0.021210 deg/s, posRepo size: 4 2021-08-13T12:46:06.286Z,1628858766.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.520004 m, bearing: 327.008093 deg, approachRate: -0.698629 m/s, LOS rate: -0.021210 deg/s, cmd update: -0.063629 deg/s, cmd heading: 321.671609 deg, new cmd heading: 321.312882 deg. 2021-08-13T12:46:07.052Z,1628858767.052 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T12:46:08.307Z,1628858768.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:08.623Z,1628858768.623 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:08.623Z,1628858768.623 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:08.624Z,1628858768.624 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:08.625Z,1628858768.625 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:09.029Z,1628858769.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 049,000,00A9D,184,80,80,BE,FF 2021-08-13T12:46:09.029Z,1628858769.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:09.029Z,1628858769.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:09.031Z,1628858769.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:09.438Z,1628858769.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:09.842Z,1628858769.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00A6D,185,80,80,C2,FF 2021-08-13T12:46:09.842Z,1628858769.842 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:10.281Z,1628858770.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124610.56*5D 2021-08-13T12:46:10.490Z,1628858770.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.640007 m, bearing: 327.442793 deg, deltaT: 4.278097 s, approachRate: -0.673196 m/s, LOS rate: 0.101611 deg/s, posRepo size: 4 2021-08-13T12:46:10.492Z,1628858770.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.640007 m, bearing: 327.442793 deg, approachRate: -0.673196 m/s, LOS rate: 0.101611 deg/s, cmd update: 0.304832 deg/s, cmd heading: 321.403008 deg, new cmd heading: 321.366563 deg. 2021-08-13T12:46:12.726Z,1628858772.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:13.105Z,1628858773.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:13.105Z,1628858773.105 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:13.105Z,1628858773.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:13.106Z,1628858773.106 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:13.497Z,1628858773.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 029,000,00A6D,185,80,80,C2,FF 2021-08-13T12:46:13.497Z,1628858773.497 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:13.497Z,1628858773.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:13.499Z,1628858773.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:13.967Z,1628858773.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:14.309Z,1628858774.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,00A39,184,80,80,B4,FF 2021-08-13T12:46:14.309Z,1628858774.309 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:14.758Z,1628858774.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124615.02*59 2021-08-13T12:46:14.781Z,1628858774.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.520004 m, bearing: 327.419243 deg, deltaT: 4.396152 s, approachRate: -0.709712 m/s, LOS rate: -0.005357 deg/s, posRepo size: 4 2021-08-13T12:46:14.783Z,1628858774.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.520004 m, bearing: 327.419243 deg, approachRate: -0.709712 m/s, LOS rate: -0.005357 deg/s, cmd update: -0.016071 deg/s, cmd heading: 322.759375 deg, new cmd heading: 322.885501 deg. 2021-08-13T12:46:17.179Z,1628858777.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:17.533Z,1628858777.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:17.533Z,1628858777.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:17.533Z,1628858777.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:17.534Z,1628858777.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:17.989Z,1628858777.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 028,000,00A39,184,80,80,B4,FF 2021-08-13T12:46:17.989Z,1628858777.989 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:17.989Z,1628858777.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:17.991Z,1628858777.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:18.385Z,1628858778.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:18.789Z,1628858778.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,00A02,184,80,80,A8,FF 2021-08-13T12:46:18.789Z,1628858778.789 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:19.213Z,1628858779.213 [Micromodem](INFO): Nmea in: $SNTTA,,0.094481,,,124619.52*4E 2021-08-13T12:46:19.259Z,1628858779.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.220001 m, bearing: 325.054877 deg, deltaT: 4.436898 s, approachRate: -0.743764 m/s, LOS rate: -0.532887 deg/s, posRepo size: 4 2021-08-13T12:46:19.265Z,1628858779.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.220001 m, bearing: 325.054877 deg, approachRate: -0.743764 m/s, LOS rate: -0.532887 deg/s, cmd update: -1.598661 deg/s, cmd heading: 322.688015 deg, new cmd heading: 322.680755 deg. 2021-08-13T12:46:21.651Z,1628858781.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:22.069Z,1628858782.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:22.069Z,1628858782.069 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:22.069Z,1628858782.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:22.070Z,1628858782.070 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:22.121Z,1628858782.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:46:22.417Z,1628858782.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 059,000,00A02,184,80,80,A8,FF 2021-08-13T12:46:22.417Z,1628858782.417 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:22.417Z,1628858782.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:22.419Z,1628858782.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:22.825Z,1628858782.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:23.238Z,1628858783.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,009CF,184,80,80,67,FF 2021-08-13T12:46:23.238Z,1628858783.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:23.657Z,1628858783.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124623.95*52 2021-08-13T12:46:23.716Z,1628858783.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.160004 m, bearing: 325.615554 deg, deltaT: 4.479399 s, approachRate: -0.683127 m/s, LOS rate: 0.125168 deg/s, posRepo size: 4 2021-08-13T12:46:23.718Z,1628858783.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.160004 m, bearing: 325.615554 deg, approachRate: -0.683127 m/s, LOS rate: 0.125168 deg/s, cmd update: 0.375503 deg/s, cmd heading: 315.533586 deg, new cmd heading: 314.846471 deg. 2021-08-13T12:46:26.156Z,1628858786.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:26.477Z,1628858786.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:26.477Z,1628858786.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:26.477Z,1628858786.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:26.478Z,1628858786.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:26.882Z,1628858786.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 042,000,009CF,184,80,80,67,FF 2021-08-13T12:46:26.882Z,1628858786.882 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:26.882Z,1628858786.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:26.885Z,1628858786.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:27.300Z,1628858787.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:27.331Z,1628858787.331 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T12:46:27.689Z,1628858787.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,0099C,184,80,80,B0,FF 2021-08-13T12:46:27.689Z,1628858787.689 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:28.129Z,1628858788.129 [Micromodem](INFO): Nmea in: $SNTTA,0.088495,,,,124628.41*46 2021-08-13T12:46:28.190Z,1628858788.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 328.180344 deg, deltaT: 4.500384 s, approachRate: -0.679943 m/s, LOS rate: 0.569905 deg/s, posRepo size: 4 2021-08-13T12:46:28.213Z,1628858788.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.099998 m, bearing: 328.180344 deg, approachRate: -0.679943 m/s, LOS rate: 0.569905 deg/s, cmd update: 1.709715 deg/s, cmd heading: 317.223514 deg, new cmd heading: 317.376655 deg. 2021-08-13T12:46:30.582Z,1628858790.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:30.933Z,1628858790.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:30.933Z,1628858790.933 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:30.933Z,1628858790.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:30.934Z,1628858790.934 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:31.341Z,1628858791.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB3,000,0099C,184,80,80,B0,FF 2021-08-13T12:46:31.341Z,1628858791.341 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:31.341Z,1628858791.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:31.343Z,1628858791.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:31.845Z,1628858791.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:32.255Z,1628858792.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00965,183,80,80,C0,FF 2021-08-13T12:46:32.255Z,1628858792.255 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:32.667Z,1628858792.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124632.87*51 2021-08-13T12:46:32.732Z,1628858792.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.799995 m, bearing: 326.190683 deg, deltaT: 4.485660 s, approachRate: -0.735678 m/s, LOS rate: -0.443560 deg/s, posRepo size: 4 2021-08-13T12:46:32.734Z,1628858792.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.799995 m, bearing: 326.190683 deg, approachRate: -0.735678 m/s, LOS rate: -0.443560 deg/s, cmd update: -1.330681 deg/s, cmd heading: 324.899864 deg, new cmd heading: 325.650903 deg. 2021-08-13T12:46:35.107Z,1628858795.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:35.473Z,1628858795.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:35.473Z,1628858795.473 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:35.473Z,1628858795.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:35.474Z,1628858795.474 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:35.879Z,1628858795.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE5,000,00965,183,80,80,C0,FF 2021-08-13T12:46:35.880Z,1628858795.880 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:35.881Z,1628858795.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:35.885Z,1628858795.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:36.297Z,1628858796.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:36.345Z,1628858796.345 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T12:46:36.681Z,1628858796.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00933,184,80,80,AE,FF 2021-08-13T12:46:36.682Z,1628858796.682 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:37.137Z,1628858797.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124637.41*5E 2021-08-13T12:46:37.171Z,1628858797.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.800003 m, bearing: 323.880904 deg, deltaT: 4.479730 s, approachRate: -0.669681 m/s, LOS rate: -0.515607 deg/s, posRepo size: 4 2021-08-13T12:46:37.174Z,1628858797.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.800003 m, bearing: 323.880904 deg, approachRate: -0.669681 m/s, LOS rate: -0.515607 deg/s, cmd update: -1.546820 deg/s, cmd heading: 318.938904 deg, new cmd heading: 318.380618 deg. 2021-08-13T12:46:38.358Z,1628858798.358 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T12:46:38.728Z,1628858798.728 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T12:46:39.255Z,1628858799.255 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 696616610C0000005D00000400260000000000000000151D80030C5669C08C79985D8536BAC81D9CB41A99711AA5520937CD4D5DAD0ABC8952BAEE00 2021-08-13T12:46:39.255Z,1628858799.255 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T12:46:39.336Z,1628858799.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:39.513Z,1628858799.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:39.513Z,1628858799.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:39.513Z,1628858799.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:39.514Z,1628858799.514 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:39.523Z,1628858799.523 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T12:46:39.933Z,1628858799.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 056,000,00933,184,80,80,AE,FF 2021-08-13T12:46:39.933Z,1628858799.933 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:39.934Z,1628858799.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:39.942Z,1628858799.942 [Micromodem](INFO): Nmea in: $CADRQ,124640,1,10,0,64,1*73 2021-08-13T12:46:39.944Z,1628858799.944 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,696616610C0000005D00000400260000000000000000151D80030C5669C08C79985D8536BAC81D9CB41A99711AA5520937CD4D5DAD0ABC8952BAEE00*30 2021-08-13T12:46:40.322Z,1628858800.322 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T12:46:40.322Z,1628858800.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:40.734Z,1628858800.734 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T12:46:40.734Z,1628858800.734 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74 2021-08-13T12:46:42.004Z,1628858802.004 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T12:46:42.004Z,1628858802.004 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62 2021-08-13T12:46:42.209Z,1628858802.209 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:46:42.246Z,1628858802.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:42.419Z,1628858802.419 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,124641.494577,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B 2021-08-13T12:46:42.419Z,1628858802.419 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,124641.494577,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B 2021-08-13T12:46:44.030Z,1628858804.030 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T12:46:44.032Z,1628858804.032 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T123241/Courier0012.lzma.parts 2021-08-13T12:46:44.032Z,1628858804.032 [Micromodem](INFO): Packets left to send: 0 2021-08-13T12:46:44.694Z,1628858804.694 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813124644.428111,06,32767,45,0103,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,19.5,9.64,21,-6.64,-01,-0.71,36,14500,4000*41 2021-08-13T12:46:44.694Z,1628858804.694 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813124644.428111,06,32767,45,0103,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,19.5,9.64,21,-6.64,-01,-0.71,36,14500,4000*41 2021-08-13T12:46:44.857Z,1628858804.857 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (3 active estimators). 2021-08-13T12:46:44.871Z,1628858804.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:44.896Z,1628858804.896 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T12:46:44.897Z,1628858804.897 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T12:46:44.897Z,1628858804.897 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T12:46:44.897Z,1628858804.897 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:46:44.897Z,1628858804.897 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T12:46:45.540Z,1628858805.540 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.025899 2021-08-13T12:46:46.007Z,1628858806.007 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T12:46:47.582Z,1628858807.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:48.017Z,1628858808.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:48.017Z,1628858808.017 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:48.017Z,1628858808.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:48.018Z,1628858808.018 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:48.356Z,1628858808.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 056,000,00933,184,80,80,AE,FF 2021-08-13T12:46:48.356Z,1628858808.356 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:48.357Z,1628858808.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:50.387Z,1628858810.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:51.586Z,1628858811.586 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:52.232Z,1628858812.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:52.299Z,1628858812.299 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:46:52.617Z,1628858812.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,0087E,186,80,80,BC,FF 2021-08-13T12:46:52.617Z,1628858812.617 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:53.050Z,1628858813.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124653.11*59 2021-08-13T12:46:53.078Z,1628858813.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.940010 m, bearing: 322.042818 deg, deltaT: 15.914950 s, approachRate: -0.682377 m/s, LOS rate: -0.115494 deg/s, posRepo size: 4 2021-08-13T12:46:53.080Z,1628858813.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.940010 m, bearing: 322.042818 deg, approachRate: -0.682377 m/s, LOS rate: -0.115494 deg/s, cmd update: -0.346483 deg/s, cmd heading: 294.327544 deg, new cmd heading: 293.686186 deg. 2021-08-13T12:46:55.471Z,1628858815.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:46:55.845Z,1628858815.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:46:55.845Z,1628858815.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:46:55.845Z,1628858815.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:46:55.846Z,1628858815.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:46:56.245Z,1628858816.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBC,000,0087E,186,80,80,BC,FF 2021-08-13T12:46:56.245Z,1628858816.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:46:56.246Z,1628858816.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:46:56.247Z,1628858816.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:46:56.363Z,1628858816.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:46:56.656Z,1628858816.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:46:57.065Z,1628858817.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,00849,188,80,80,6F,FF 2021-08-13T12:46:57.065Z,1628858817.065 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:46:57.119Z,1628858817.119 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:46:57.493Z,1628858817.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124657.77*5D 2021-08-13T12:46:57.530Z,1628858817.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.760002 m, bearing: 328.973220 deg, deltaT: 4.464932 s, approachRate: -0.712219 m/s, LOS rate: 1.552185 deg/s, posRepo size: 4 2021-08-13T12:46:57.532Z,1628858817.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.760002 m, bearing: 328.973220 deg, approachRate: -0.712219 m/s, LOS rate: 1.552185 deg/s, cmd update: 4.656556 deg/s, cmd heading: 292.779125 deg, new cmd heading: 292.641344 deg. 2021-08-13T12:46:59.978Z,1628858819.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:00.289Z,1628858820.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:00.289Z,1628858820.289 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:00.289Z,1628858820.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:00.290Z,1628858820.290 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:00.697Z,1628858820.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DE3,000,00849,188,80,80,6F,FF 2021-08-13T12:47:00.698Z,1628858820.698 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:00.698Z,1628858820.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:00.699Z,1628858820.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:01.101Z,1628858821.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:01.505Z,1628858821.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,00818,189,80,80,A2,FF 2021-08-13T12:47:01.505Z,1628858821.505 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:01.983Z,1628858821.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124702.23*5D 2021-08-13T12:47:02.041Z,1628858822.041 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:47:02.062Z,1628858822.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.820000 m, bearing: 332.603657 deg, deltaT: 4.391089 s, approachRate: -0.669538 m/s, LOS rate: 0.826774 deg/s, posRepo size: 4 2021-08-13T12:47:02.073Z,1628858822.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.820000 m, bearing: 332.603657 deg, approachRate: -0.669538 m/s, LOS rate: 0.826774 deg/s, cmd update: 2.480321 deg/s, cmd heading: 313.226289 deg, new cmd heading: 315.738673 deg. 2021-08-13T12:47:04.069Z,1628858824.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:04.354Z,1628858824.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:04.354Z,1628858824.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:04.354Z,1628858824.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:04.355Z,1628858824.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:04.749Z,1628858824.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D90,000,00818,189,80,80,A2,FF 2021-08-13T12:47:04.749Z,1628858824.749 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:04.749Z,1628858824.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:04.751Z,1628858824.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:05.173Z,1628858825.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:05.561Z,1628858825.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F03,000,007EA,186,80,80,95,FF 2021-08-13T12:47:05.562Z,1628858825.562 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:06.029Z,1628858826.029 [Micromodem](INFO): Nmea in: $SNTTA,0.068034,,,,124706.28*45 2021-08-13T12:47:06.058Z,1628858826.058 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T12:47:06.095Z,1628858826.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.060005 m, bearing: 325.509467 deg, deltaT: 4.055617 s, approachRate: -0.680536 m/s, LOS rate: -1.749226 deg/s, posRepo size: 4 2021-08-13T12:47:06.102Z,1628858826.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.060005 m, bearing: 325.509467 deg, approachRate: -0.680536 m/s, LOS rate: -1.749226 deg/s, cmd update: -5.247677 deg/s, cmd heading: 323.285606 deg, new cmd heading: 324.567215 deg. 2021-08-13T12:47:08.082Z,1628858828.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:08.385Z,1628858828.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:08.385Z,1628858828.385 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:08.385Z,1628858828.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:08.386Z,1628858828.386 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:08.801Z,1628858828.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F03,000,007EA,186,80,80,95,FF 2021-08-13T12:47:08.801Z,1628858828.801 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:08.801Z,1628858828.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:08.803Z,1628858828.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:09.205Z,1628858829.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:09.605Z,1628858829.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,007BE,184,80,80,A8,FF 2021-08-13T12:47:09.605Z,1628858829.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:10.066Z,1628858830.066 [Micromodem](INFO): Nmea in: $SNTTA,0.066543,,,,124710.33*43 2021-08-13T12:47:10.153Z,1628858830.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.419998 m, bearing: 322.850311 deg, deltaT: 4.043759 s, approachRate: -0.652860 m/s, LOS rate: -0.657595 deg/s, posRepo size: 4 2021-08-13T12:47:10.155Z,1628858830.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.419998 m, bearing: 322.850311 deg, approachRate: -0.652860 m/s, LOS rate: -0.657595 deg/s, cmd update: -1.972786 deg/s, cmd heading: 302.065086 deg, new cmd heading: 299.343762 deg. 2021-08-13T12:47:12.130Z,1628858832.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:12.441Z,1628858832.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:12.441Z,1628858832.441 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:12.442Z,1628858832.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:12.443Z,1628858832.443 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:12.850Z,1628858832.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 024,000,007BE,184,80,80,A8,FF 2021-08-13T12:47:12.850Z,1628858832.850 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:12.850Z,1628858832.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:12.852Z,1628858832.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:13.261Z,1628858833.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:13.658Z,1628858833.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00790,186,80,80,CA,FF 2021-08-13T12:47:13.658Z,1628858833.658 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:14.094Z,1628858834.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124714.38*50 2021-08-13T12:47:14.170Z,1628858834.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.660004 m, bearing: 324.646596 deg, deltaT: 4.089918 s, approachRate: -0.674829 m/s, LOS rate: 0.439198 deg/s, posRepo size: 4 2021-08-13T12:47:14.177Z,1628858834.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.660004 m, bearing: 324.646596 deg, approachRate: -0.674829 m/s, LOS rate: 0.439198 deg/s, cmd update: 1.317595 deg/s, cmd heading: 294.004575 deg, new cmd heading: 293.092613 deg. 2021-08-13T12:47:15.693Z,1628858835.693 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T12:47:16.509Z,1628858836.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:16.900Z,1628858836.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:16.900Z,1628858836.900 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:16.901Z,1628858836.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:16.901Z,1628858836.901 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:17.289Z,1628858837.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9F,000,00790,186,80,80,CA,FF 2021-08-13T12:47:17.289Z,1628858837.289 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:17.290Z,1628858837.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:17.292Z,1628858837.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:17.719Z,1628858837.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:18.097Z,1628858838.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,00762,18A,80,80,A1,FF 2021-08-13T12:47:18.097Z,1628858838.097 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:18.547Z,1628858838.547 [Micromodem](INFO): Nmea in: $SNTTA,0.059992,,,,124718.82*4D 2021-08-13T12:47:18.568Z,1628858838.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 333.530869 deg, deltaT: 4.486769 s, approachRate: -0.615142 m/s, LOS rate: 1.980105 deg/s, posRepo size: 4 2021-08-13T12:47:18.570Z,1628858838.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.900002 m, bearing: 333.530869 deg, approachRate: -0.615142 m/s, LOS rate: 1.980105 deg/s, cmd update: 5.940315 deg/s, cmd heading: 299.916309 deg, new cmd heading: 300.408068 deg. 2021-08-13T12:47:21.015Z,1628858841.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:21.343Z,1628858841.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:21.344Z,1628858841.344 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:21.344Z,1628858841.344 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:21.345Z,1628858841.345 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:21.737Z,1628858841.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D8D,000,00762,18A,80,80,A1,FF 2021-08-13T12:47:21.737Z,1628858841.737 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:21.737Z,1628858841.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:21.739Z,1628858841.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:22.150Z,1628858842.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:22.546Z,1628858842.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,0072D,189,80,80,B4,FF 2021-08-13T12:47:22.547Z,1628858842.547 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:23.019Z,1628858843.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124723.26*5B 2021-08-13T12:47:23.057Z,1628858843.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 332.546720 deg, deltaT: 4.416031 s, approachRate: -0.720102 m/s, LOS rate: -0.222858 deg/s, posRepo size: 4 2021-08-13T12:47:23.059Z,1628858843.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.720009 m, bearing: 332.546720 deg, approachRate: -0.720102 m/s, LOS rate: -0.222858 deg/s, cmd update: -0.668574 deg/s, cmd heading: 326.148727 deg, new cmd heading: 328.793979 deg. 2021-08-13T12:47:25.403Z,1628858845.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:25.804Z,1628858845.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:25.804Z,1628858845.804 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:25.804Z,1628858845.804 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:25.805Z,1628858845.805 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:26.201Z,1628858846.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB4,000,0072D,189,80,80,B4,FF 2021-08-13T12:47:26.202Z,1628858846.202 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:26.202Z,1628858846.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:26.203Z,1628858846.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:26.645Z,1628858846.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:27.061Z,1628858847.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00700,184,80,80,BD,FF 2021-08-13T12:47:27.062Z,1628858847.062 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:27.466Z,1628858847.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124727.73*5F 2021-08-13T12:47:27.505Z,1628858847.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 323.800308 deg, deltaT: 4.493999 s, approachRate: -0.600802 m/s, LOS rate: -1.946243 deg/s, posRepo size: 4 2021-08-13T12:47:27.507Z,1628858847.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.020004 m, bearing: 323.800308 deg, approachRate: -0.600802 m/s, LOS rate: -1.946243 deg/s, cmd update: -5.838727 deg/s, cmd heading: 323.141605 deg, new cmd heading: 322.877136 deg. 2021-08-13T12:47:29.985Z,1628858849.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:30.261Z,1628858850.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:30.261Z,1628858850.261 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:30.261Z,1628858850.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:30.262Z,1628858850.262 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:30.661Z,1628858850.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA7,000,00700,184,80,80,BD,FF 2021-08-13T12:47:30.661Z,1628858850.661 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:30.661Z,1628858850.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:30.663Z,1628858850.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:31.065Z,1628858851.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:31.465Z,1628858851.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,006CC,186,80,80,BF,FF 2021-08-13T12:47:31.466Z,1628858851.466 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:31.937Z,1628858851.937 [Micromodem](INFO): Nmea in: $SNTTA,0.044332,,,,124732.19*4B 2021-08-13T12:47:32.067Z,1628858852.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 321.776386 deg, deltaT: 4.385075 s, approachRate: -0.711505 m/s, LOS rate: -0.461548 deg/s, posRepo size: 4 2021-08-13T12:47:32.069Z,1628858852.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.900002 m, bearing: 321.776386 deg, approachRate: -0.711505 m/s, LOS rate: -0.461548 deg/s, cmd update: -1.384643 deg/s, cmd heading: 297.557387 deg, new cmd heading: 294.192710 deg. 2021-08-13T12:47:34.008Z,1628858854.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:34.293Z,1628858854.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:34.293Z,1628858854.293 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:34.293Z,1628858854.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:34.294Z,1628858854.294 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:34.707Z,1628858854.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 087,000,006CC,186,80,80,BF,FF 2021-08-13T12:47:34.707Z,1628858854.707 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:34.707Z,1628858854.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:34.709Z,1628858854.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:35.109Z,1628858855.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:35.513Z,1628858855.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,0069A,186,80,80,BB,FF 2021-08-13T12:47:35.513Z,1628858855.513 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:36.001Z,1628858856.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124736.23*5A 2021-08-13T12:47:36.055Z,1628858856.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 325.808384 deg, deltaT: 4.037075 s, approachRate: -0.743113 m/s, LOS rate: 0.998742 deg/s, posRepo size: 4 2021-08-13T12:47:36.057Z,1628858856.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.899998 m, bearing: 325.808384 deg, approachRate: -0.743113 m/s, LOS rate: 0.998742 deg/s, cmd update: 2.996227 deg/s, cmd heading: 291.962564 deg, new cmd heading: 291.237406 deg. 2021-08-13T12:47:38.118Z,1628858858.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:38.343Z,1628858858.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:38.343Z,1628858858.343 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:38.343Z,1628858858.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:38.344Z,1628858858.344 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:38.741Z,1628858858.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4A,000,0069A,186,80,80,BB,FF 2021-08-13T12:47:38.741Z,1628858858.741 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:38.741Z,1628858858.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:38.743Z,1628858858.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:39.156Z,1628858859.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:39.557Z,1628858859.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,0066E,189,80,80,C3,FF 2021-08-13T12:47:39.558Z,1628858859.558 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:40.017Z,1628858860.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124740.27*5F 2021-08-13T12:47:40.098Z,1628858860.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 330.631344 deg, deltaT: 4.043518 s, approachRate: -0.652897 m/s, LOS rate: 1.192763 deg/s, posRepo size: 4 2021-08-13T12:47:40.105Z,1628858860.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.259998 m, bearing: 330.631344 deg, approachRate: -0.652897 m/s, LOS rate: 1.192763 deg/s, cmd update: 3.578290 deg/s, cmd heading: 304.077733 deg, new cmd heading: 305.647066 deg. 2021-08-13T12:47:42.147Z,1628858862.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:42.377Z,1628858862.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:42.377Z,1628858862.377 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:42.377Z,1628858862.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:42.378Z,1628858862.378 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:42.781Z,1628858862.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DC1,000,0066E,189,80,80,C3,FF 2021-08-13T12:47:42.781Z,1628858862.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:42.782Z,1628858862.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:42.783Z,1628858862.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:43.197Z,1628858863.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:43.590Z,1628858863.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,00642,18A,80,80,79,FF 2021-08-13T12:47:43.590Z,1628858863.590 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:44.049Z,1628858864.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124744.31*5C 2021-08-13T12:47:44.109Z,1628858864.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 333.457212 deg, deltaT: 4.061273 s, approachRate: -0.650041 m/s, LOS rate: 0.695808 deg/s, posRepo size: 4 2021-08-13T12:47:44.111Z,1628858864.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.620003 m, bearing: 333.457212 deg, approachRate: -0.650041 m/s, LOS rate: 0.695808 deg/s, cmd update: 2.087425 deg/s, cmd heading: 318.604306 deg, new cmd heading: 320.283648 deg. 2021-08-13T12:47:46.439Z,1628858866.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:46.821Z,1628858866.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:46.821Z,1628858866.821 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:46.821Z,1628858866.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:46.822Z,1628858866.822 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:47.225Z,1628858867.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB4,000,00642,18A,80,80,79,FF 2021-08-13T12:47:47.225Z,1628858867.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:47.226Z,1628858867.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:47.227Z,1628858867.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:47.638Z,1628858867.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:48.034Z,1628858868.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00611,184,80,80,B5,FF 2021-08-13T12:47:48.034Z,1628858868.034 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:48.477Z,1628858868.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124748.75*50 2021-08-13T12:47:48.501Z,1628858868.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 323.979368 deg, deltaT: 4.487507 s, approachRate: -0.655153 m/s, LOS rate: -2.112051 deg/s, posRepo size: 4 2021-08-13T12:47:48.525Z,1628858868.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.680000 m, bearing: 323.979368 deg, approachRate: -0.655153 m/s, LOS rate: -2.112051 deg/s, cmd update: -6.336153 deg/s, cmd heading: 327.975052 deg, new cmd heading: 328.756290 deg. 2021-08-13T12:47:50.897Z,1628858870.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:51.269Z,1628858871.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:51.269Z,1628858871.269 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:51.269Z,1628858871.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:51.270Z,1628858871.270 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:51.673Z,1628858871.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAC,000,00611,184,80,80,B5,FF 2021-08-13T12:47:51.674Z,1628858871.674 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:51.674Z,1628858871.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:51.675Z,1628858871.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:52.113Z,1628858872.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:52.481Z,1628858872.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,005DE,186,80,80,8F,FF 2021-08-13T12:47:52.481Z,1628858872.481 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:52.928Z,1628858872.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124753.20*5A 2021-08-13T12:47:52.994Z,1628858872.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 320.024661 deg, deltaT: 4.403834 s, approachRate: -0.694849 m/s, LOS rate: -0.898014 deg/s, posRepo size: 4 2021-08-13T12:47:52.998Z,1628858872.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.620003 m, bearing: 320.024661 deg, approachRate: -0.694849 m/s, LOS rate: -0.898014 deg/s, cmd update: -2.694043 deg/s, cmd heading: 300.223709 deg, new cmd heading: 297.117822 deg. 2021-08-13T12:47:55.339Z,1628858875.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:47:55.709Z,1628858875.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:47:55.709Z,1628858875.709 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:47:55.709Z,1628858875.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:47:55.710Z,1628858875.710 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:47:56.113Z,1628858876.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0EE,000,005DE,186,80,80,8F,FF 2021-08-13T12:47:56.113Z,1628858876.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:47:56.114Z,1628858876.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:47:56.115Z,1628858876.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:47:56.517Z,1628858876.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:47:56.937Z,1628858876.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,005AC,186,80,80,7C,FF 2021-08-13T12:47:56.938Z,1628858876.938 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:47:57.361Z,1628858877.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124757.64*5E 2021-08-13T12:47:57.390Z,1628858877.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 324.502588 deg, deltaT: 4.484556 s, approachRate: -0.668964 m/s, LOS rate: 0.998522 deg/s, posRepo size: 4 2021-08-13T12:47:57.416Z,1628858877.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.619995 m, bearing: 324.502588 deg, approachRate: -0.668964 m/s, LOS rate: 0.998522 deg/s, cmd update: 2.995565 deg/s, cmd heading: 288.108081 deg, new cmd heading: 287.059664 deg. 2021-08-13T12:47:59.767Z,1628858879.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:00.160Z,1628858880.160 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:00.161Z,1628858880.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:00.161Z,1628858880.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:00.162Z,1628858880.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:00.557Z,1628858880.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9A,000,005AC,186,80,80,7C,FF 2021-08-13T12:48:00.557Z,1628858880.557 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:00.557Z,1628858880.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:00.559Z,1628858880.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:00.986Z,1628858880.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:01.362Z,1628858881.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00577,189,80,80,B4,FF 2021-08-13T12:48:01.362Z,1628858881.362 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:01.810Z,1628858881.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124802.08*5B 2021-08-13T12:48:01.830Z,1628858881.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 330.300544 deg, deltaT: 4.367094 s, approachRate: -0.728172 m/s, LOS rate: 1.327646 deg/s, posRepo size: 4 2021-08-13T12:48:01.832Z,1628858881.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.439999 m, bearing: 330.300544 deg, approachRate: -0.728172 m/s, LOS rate: 1.327646 deg/s, cmd update: 3.982939 deg/s, cmd heading: 301.223981 deg, new cmd heading: 302.574283 deg. 2021-08-13T12:48:04.268Z,1628858884.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:04.597Z,1628858884.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:04.597Z,1628858884.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:04.597Z,1628858884.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:04.598Z,1628858884.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:05.033Z,1628858885.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DD0,000,00577,189,80,80,B4,FF 2021-08-13T12:48:05.033Z,1628858885.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:05.033Z,1628858885.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:05.035Z,1628858885.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:05.413Z,1628858885.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:05.809Z,1628858885.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,00547,18A,80,80,72,FF 2021-08-13T12:48:05.810Z,1628858885.810 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:06.231Z,1628858886.231 [Micromodem](INFO): Nmea in: $SNTTA,0.053247,,,,124806.56*4D 2021-08-13T12:48:06.313Z,1628858886.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 331.709366 deg, deltaT: 4.480403 s, approachRate: -0.642800 m/s, LOS rate: 0.314441 deg/s, posRepo size: 4 2021-08-13T12:48:06.315Z,1628858886.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.559998 m, bearing: 331.709366 deg, approachRate: -0.642800 m/s, LOS rate: 0.314441 deg/s, cmd update: 0.943323 deg/s, cmd heading: 319.052449 deg, new cmd heading: 320.860110 deg. 2021-08-13T12:48:08.666Z,1628858888.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:09.045Z,1628858889.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:09.045Z,1628858889.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:09.045Z,1628858889.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:09.046Z,1628858889.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:09.457Z,1628858889.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DBE,000,00547,18A,80,80,72,FF 2021-08-13T12:48:09.457Z,1628858889.457 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:09.457Z,1628858889.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:09.459Z,1628858889.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:09.861Z,1628858889.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:10.261Z,1628858890.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00514,186,80,80,82,FF 2021-08-13T12:48:10.261Z,1628858890.261 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:10.685Z,1628858890.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124810.99*50 2021-08-13T12:48:10.722Z,1628858890.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 323.193159 deg, deltaT: 4.488247 s, approachRate: -0.681780 m/s, LOS rate: -1.897446 deg/s, posRepo size: 4 2021-08-13T12:48:10.724Z,1628858890.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.500000 m, bearing: 323.193159 deg, approachRate: -0.681780 m/s, LOS rate: -1.897446 deg/s, cmd update: -5.692339 deg/s, cmd heading: 323.290033 deg, new cmd heading: 323.643160 deg. 2021-08-13T12:48:13.150Z,1628858893.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:13.489Z,1628858893.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:13.489Z,1628858893.489 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:13.490Z,1628858893.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:13.491Z,1628858893.491 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:13.925Z,1628858893.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9C,000,00514,186,80,80,82,FF 2021-08-13T12:48:13.926Z,1628858893.926 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:13.927Z,1628858893.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:13.942Z,1628858893.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:14.329Z,1628858894.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:14.380Z,1628858894.380 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T12:48:14.730Z,1628858894.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,004DF,186,80,80,6E,FF 2021-08-13T12:48:14.730Z,1628858894.730 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:15.150Z,1628858895.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124815.47*56 2021-08-13T12:48:15.190Z,1628858895.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 319.846940 deg, deltaT: 4.404033 s, approachRate: -0.722065 m/s, LOS rate: -0.759808 deg/s, posRepo size: 4 2021-08-13T12:48:15.191Z,1628858895.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.32 m. 2021-08-13T12:48:15.199Z,1628858895.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.320004 m, bearing: 319.846940 deg, approachRate: -0.722065 m/s, LOS rate: -0.759808 deg/s, cmd update: -2.279424 deg/s, cmd heading: 298.219325 deg, new cmd heading: 295.723735 deg. 2021-08-13T12:48:15.578Z,1628858895.578 [PowerOnly](INFO): Powering up loadControl 2021-08-13T12:48:15.614Z,1628858895.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T12:48:15.614Z,1628858895.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:48:15.614Z,1628858895.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T12:48:15.615Z,1628858895.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T12:48:15.615Z,1628858895.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T12:48:15.615Z,1628858895.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T12:48:16.059Z,1628858896.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T12:48:16.080Z,1628858896.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:48:16.080Z,1628858896.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T12:48:16.080Z,1628858896.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:48:17.591Z,1628858897.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:18.001Z,1628858898.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:18.002Z,1628858898.002 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:18.002Z,1628858898.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:18.003Z,1628858898.003 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:18.369Z,1628858898.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A2,000,004DF,186,80,80,6E,FF 2021-08-13T12:48:18.369Z,1628858898.369 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:18.369Z,1628858898.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:18.371Z,1628858898.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:18.788Z,1628858898.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:19.173Z,1628858899.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,004AE,187,80,80,98,FF 2021-08-13T12:48:19.173Z,1628858899.173 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:19.233Z,1628858899.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:19.621Z,1628858899.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124819.90*50 2021-08-13T12:48:19.639Z,1628858899.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 322.308977 deg, deltaT: 4.478441 s, approachRate: -0.656480 m/s, LOS rate: 0.549753 deg/s, posRepo size: 4 2021-08-13T12:48:19.640Z,1628858899.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m. 2021-08-13T12:48:19.642Z,1628858899.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.379997 m, bearing: 322.308977 deg, approachRate: -0.656480 m/s, LOS rate: 0.549753 deg/s, cmd update: 1.649260 deg/s, cmd heading: 288.032086 deg, new cmd heading: 287.077926 deg. 2021-08-13T12:48:22.147Z,1628858902.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:22.413Z,1628858902.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:22.413Z,1628858902.413 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:22.413Z,1628858902.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:22.414Z,1628858902.414 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:22.809Z,1628858902.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3D,000,004AE,187,80,80,98,FF 2021-08-13T12:48:22.810Z,1628858902.810 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:22.810Z,1628858902.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:22.813Z,1628858902.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:23.227Z,1628858903.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:23.618Z,1628858903.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,00480,189,80,80,54,FF 2021-08-13T12:48:23.619Z,1628858903.619 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:23.678Z,1628858903.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:24.073Z,1628858904.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124824.34*50 2021-08-13T12:48:24.139Z,1628858904.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 328.958166 deg, deltaT: 4.445318 s, approachRate: -0.620877 m/s, LOS rate: 1.495774 deg/s, posRepo size: 4 2021-08-13T12:48:24.139Z,1628858904.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.62 m. 2021-08-13T12:48:24.141Z,1628858904.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.620001 m, bearing: 328.958166 deg, approachRate: -0.620877 m/s, LOS rate: 1.495774 deg/s, cmd update: 4.487321 deg/s, cmd heading: 295.371407 deg, new cmd heading: 296.142636 deg. 2021-08-13T12:48:26.486Z,1628858906.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:26.857Z,1628858906.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:26.857Z,1628858906.857 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:26.858Z,1628858906.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:26.858Z,1628858906.858 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:27.258Z,1628858907.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D64,000,00480,189,80,80,54,FF 2021-08-13T12:48:27.258Z,1628858907.258 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:27.258Z,1628858907.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:27.260Z,1628858907.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:27.662Z,1628858907.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:28.065Z,1628858908.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,00452,187,80,80,57,FF 2021-08-13T12:48:28.065Z,1628858908.065 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:28.142Z,1628858908.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:28.541Z,1628858908.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124828.78*54 2021-08-13T12:48:28.564Z,1628858908.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 322.722149 deg, deltaT: 4.463847 s, approachRate: -0.618300 m/s, LOS rate: -1.397005 deg/s, posRepo size: 4 2021-08-13T12:48:28.564Z,1628858908.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.86 m. 2021-08-13T12:48:28.565Z,1628858908.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.86 m. 2021-08-13T12:48:28.565Z,1628858908.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T12:48:28.567Z,1628858908.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.860003 m, bearing: 322.722149 deg, approachRate: -0.618300 m/s, LOS rate: -1.397005 deg/s, cmd update: -4.191016 deg/s, cmd heading: 315.402381 deg, new cmd heading: 317.326638 deg. 2021-08-13T12:48:30.939Z,1628858910.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:31.302Z,1628858911.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:31.302Z,1628858911.302 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:31.302Z,1628858911.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:31.303Z,1628858911.303 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:31.697Z,1628858911.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF4,000,00452,187,80,80,57,FF 2021-08-13T12:48:31.697Z,1628858911.697 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:31.697Z,1628858911.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:31.699Z,1628858911.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:32.113Z,1628858912.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:32.501Z,1628858912.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00423,187,80,80,AF,FF 2021-08-13T12:48:32.501Z,1628858912.501 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:32.559Z,1628858912.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:32.951Z,1628858912.951 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124833.22*51 2021-08-13T12:48:33.006Z,1628858913.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 319.275608 deg, deltaT: 4.421442 s, approachRate: -0.637802 m/s, LOS rate: -0.779506 deg/s, posRepo size: 4 2021-08-13T12:48:33.013Z,1628858913.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.039999 m, bearing: 319.275608 deg, approachRate: -0.637802 m/s, LOS rate: -0.779506 deg/s, cmd update: -2.338518 deg/s, cmd heading: 296.921683 deg, new cmd heading: 294.986796 deg. 2021-08-13T12:48:35.351Z,1628858915.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:35.739Z,1628858915.739 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:35.739Z,1628858915.739 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:35.739Z,1628858915.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:35.740Z,1628858915.740 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:36.137Z,1628858916.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8B,000,00423,187,80,80,AF,FF 2021-08-13T12:48:36.137Z,1628858916.137 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:36.137Z,1628858916.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:36.139Z,1628858916.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:36.544Z,1628858916.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:36.957Z,1628858916.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,003F0,187,80,80,AB,FF 2021-08-13T12:48:36.958Z,1628858916.958 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:37.041Z,1628858917.041 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:37.390Z,1628858917.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124837.66*55 2021-08-13T12:48:37.414Z,1628858917.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 319.854262 deg, deltaT: 4.477683 s, approachRate: -0.683389 m/s, LOS rate: 0.129231 deg/s, posRepo size: 4 2021-08-13T12:48:37.416Z,1628858917.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.980001 m, bearing: 319.854262 deg, approachRate: -0.683389 m/s, LOS rate: 0.129231 deg/s, cmd update: 0.387692 deg/s, cmd heading: 286.436646 deg, new cmd heading: 285.534182 deg. 2021-08-13T12:48:39.795Z,1628858919.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:40.177Z,1628858920.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:40.177Z,1628858920.177 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:40.177Z,1628858920.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:40.178Z,1628858920.178 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:40.581Z,1628858920.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9A,000,003F0,187,80,80,AB,FF 2021-08-13T12:48:40.581Z,1628858920.581 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:40.581Z,1628858920.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:40.583Z,1628858920.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:41.025Z,1628858921.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:41.389Z,1628858921.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,003C3,189,80,80,70,FF 2021-08-13T12:48:41.389Z,1628858921.389 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:41.469Z,1628858921.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:41.837Z,1628858921.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124842.11*57 2021-08-13T12:48:41.862Z,1628858921.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 325.042911 deg, deltaT: 4.427493 s, approachRate: -0.609826 m/s, LOS rate: 1.171916 deg/s, posRepo size: 4 2021-08-13T12:48:41.865Z,1628858921.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.280001 m, bearing: 325.042911 deg, approachRate: -0.609826 m/s, LOS rate: 1.171916 deg/s, cmd update: 3.515747 deg/s, cmd heading: 288.155494 deg, new cmd heading: 288.309840 deg. 2021-08-13T12:48:44.280Z,1628858924.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:44.621Z,1628858924.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:44.621Z,1628858924.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:44.621Z,1628858924.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:44.622Z,1628858924.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:45.037Z,1628858925.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DBA,000,003C3,189,80,80,70,FF 2021-08-13T12:48:45.037Z,1628858925.037 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:45.037Z,1628858925.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:45.039Z,1628858925.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:45.433Z,1628858925.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:45.841Z,1628858925.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,00398,189,80,80,88,FF 2021-08-13T12:48:45.842Z,1628858925.842 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:45.862Z,1628858925.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:46.265Z,1628858926.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124846.57*51 2021-08-13T12:48:46.357Z,1628858926.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 320.106050 deg, deltaT: 4.393031 s, approachRate: -0.587294 m/s, LOS rate: -1.123794 deg/s, posRepo size: 4 2021-08-13T12:48:46.359Z,1628858926.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.700001 m, bearing: 320.106050 deg, approachRate: -0.587294 m/s, LOS rate: -1.123794 deg/s, cmd update: -3.371381 deg/s, cmd heading: 303.614357 deg, new cmd heading: 305.310326 deg. 2021-08-13T12:48:48.375Z,1628858928.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:48.669Z,1628858928.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:48.669Z,1628858928.669 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:48.669Z,1628858928.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:48.670Z,1628858928.670 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:49.073Z,1628858929.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D39,000,00398,189,80,80,88,FF 2021-08-13T12:48:49.073Z,1628858929.073 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:49.073Z,1628858929.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:49.075Z,1628858929.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:49.488Z,1628858929.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:49.890Z,1628858929.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8F,000,00370,189,80,80,34,FF 2021-08-13T12:48:49.890Z,1628858929.890 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:50.009Z,1628858930.009 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:50.325Z,1628858930.325 [Micromodem](INFO): Nmea in: $SNTTA,0.041175,,,,124850.60*4A 2021-08-13T12:48:50.409Z,1628858930.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 324.580971 deg, deltaT: 4.147252 s, approachRate: -0.578697 m/s, LOS rate: 1.079009 deg/s, posRepo size: 4 2021-08-13T12:48:50.411Z,1628858930.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.299999 m, bearing: 324.580971 deg, approachRate: -0.578697 m/s, LOS rate: 1.079009 deg/s, cmd update: 3.237026 deg/s, cmd heading: 289.645780 deg, new cmd heading: 288.289490 deg. 2021-08-13T12:48:52.738Z,1628858932.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:53.113Z,1628858933.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:53.113Z,1628858933.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:53.113Z,1628858933.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:53.114Z,1628858933.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:53.521Z,1628858933.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D8F,000,00370,189,80,80,34,FF 2021-08-13T12:48:53.521Z,1628858933.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:53.521Z,1628858933.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:53.523Z,1628858933.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:54.018Z,1628858934.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:54.377Z,1628858934.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00345,186,80,80,AE,FF 2021-08-13T12:48:54.377Z,1628858934.377 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:54.426Z,1628858934.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:54.829Z,1628858934.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124855.09*58 2021-08-13T12:48:54.852Z,1628858934.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 325.206425 deg, deltaT: 4.417551 s, approachRate: -0.584034 m/s, LOS rate: 0.141584 deg/s, posRepo size: 4 2021-08-13T12:48:54.854Z,1628858934.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.719999 m, bearing: 325.206425 deg, approachRate: -0.584034 m/s, LOS rate: 0.141584 deg/s, cmd update: 0.424752 deg/s, cmd heading: 303.865160 deg, new cmd heading: 305.345087 deg. 2021-08-13T12:48:57.261Z,1628858937.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:48:57.609Z,1628858937.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:48:57.609Z,1628858937.609 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:48:57.609Z,1628858937.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:48:57.610Z,1628858937.610 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:48:58.025Z,1628858938.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E1B,000,00345,186,80,80,AE,FF 2021-08-13T12:48:58.025Z,1628858938.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:48:58.025Z,1628858938.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:48:58.027Z,1628858938.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:48:58.425Z,1628858938.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:48:58.825Z,1628858938.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,0031B,187,80,80,B0,FF 2021-08-13T12:48:58.825Z,1628858938.825 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:48:58.846Z,1628858938.846 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:48:59.258Z,1628858939.258 [Micromodem](INFO): Nmea in: $SNTTA,0.043102,,,,124859.55*47 2021-08-13T12:48:59.318Z,1628858939.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 324.537477 deg, deltaT: 4.419736 s, approachRate: -0.570169 m/s, LOS rate: -0.151355 deg/s, posRepo size: 4 2021-08-13T12:48:59.324Z,1628858939.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.200003 m, bearing: 324.537477 deg, approachRate: -0.570169 m/s, LOS rate: -0.151355 deg/s, cmd update: -0.454065 deg/s, cmd heading: 305.754689 deg, new cmd heading: 305.956334 deg. 2021-08-13T12:49:01.702Z,1628858941.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:02.057Z,1628858942.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:02.057Z,1628858942.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:02.057Z,1628858942.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:02.058Z,1628858942.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:02.470Z,1628858942.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E37,000,0031B,187,80,80,B0,FF 2021-08-13T12:49:02.470Z,1628858942.470 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:02.470Z,1628858942.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:02.472Z,1628858942.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:02.875Z,1628858942.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:03.266Z,1628858943.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,002F4,186,80,80,98,FF 2021-08-13T12:49:03.267Z,1628858943.267 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:03.297Z,1628858943.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:03.705Z,1628858943.705 [Micromodem](INFO): Nmea in: $SNTTA,0.034853,,,,124904.00*43 2021-08-13T12:49:03.744Z,1628858943.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 332.962761 deg, deltaT: 4.451123 s, approachRate: -0.525711 m/s, LOS rate: 1.892845 deg/s, posRepo size: 4 2021-08-13T12:49:03.746Z,1628858943.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.859998 m, bearing: 332.962761 deg, approachRate: -0.525711 m/s, LOS rate: 1.892845 deg/s, cmd update: 5.678534 deg/s, cmd heading: 303.733613 deg, new cmd heading: 303.529375 deg. 2021-08-13T12:49:06.172Z,1628858946.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:06.501Z,1628858946.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:06.501Z,1628858946.501 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:06.502Z,1628858946.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:06.503Z,1628858946.503 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:06.905Z,1628858946.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E10,000,002F4,186,80,80,98,FF 2021-08-13T12:49:06.905Z,1628858946.905 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:06.905Z,1628858946.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:06.907Z,1628858946.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:07.308Z,1628858947.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:07.713Z,1628858947.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,002D3,189,80,80,66,FF 2021-08-13T12:49:07.713Z,1628858947.713 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:07.779Z,1628858947.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:08.145Z,1628858948.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124908.43*5F 2021-08-13T12:49:08.222Z,1628858948.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 268.545963 deg, deltaT: 4.481494 s, approachRate: -0.441817 m/s, LOS rate: -14.373956 deg/s, posRepo size: 4 2021-08-13T12:49:08.223Z,1628858948.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.373956 deg/s. Setting heading cmd to target bearing of 268.545963deg and heading rate command to 0 deg/s. 2021-08-13T12:49:10.603Z,1628858950.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:10.948Z,1628858950.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:10.949Z,1628858950.949 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:10.950Z,1628858950.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:10.951Z,1628858950.951 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:11.354Z,1628858951.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2EB,000,002D3,189,80,80,66,FF 2021-08-13T12:49:11.354Z,1628858951.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:11.354Z,1628858951.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:11.356Z,1628858951.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:11.753Z,1628858951.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:12.153Z,1628858952.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,002C5,186,80,80,80,FF 2021-08-13T12:49:12.153Z,1628858952.153 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:12.254Z,1628858952.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:12.585Z,1628858952.585 [Micromodem](INFO): Nmea in: $SNTTA,0.139358,,,,124912.88*48 2021-08-13T12:49:12.624Z,1628858952.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 310.717354 deg, deltaT: 4.474942 s, approachRate: -0.187712 m/s, LOS rate: 9.423896 deg/s, posRepo size: 4 2021-08-13T12:49:12.626Z,1628858952.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.039999 m, bearing: 310.717354 deg, approachRate: -0.187712 m/s, LOS rate: 9.423896 deg/s, cmd update: 12.000000 deg/s, cmd heading: 268.545963 deg, new cmd heading: 268.545963 deg. 2021-08-13T12:49:15.048Z,1628858955.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:15.389Z,1628858955.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:15.389Z,1628858955.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:15.389Z,1628858955.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:15.390Z,1628858955.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:15.804Z,1628858955.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0BF,000,002C5,186,80,80,80,FF 2021-08-13T12:49:15.805Z,1628858955.805 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:15.805Z,1628858955.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:15.807Z,1628858955.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:16.292Z,1628858956.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:16.693Z,1628858956.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,002E6,187,80,80,2B,FF 2021-08-13T12:49:16.693Z,1628858956.693 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:16.713Z,1628858956.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:17.125Z,1628858957.125 [Micromodem](INFO): Nmea in: $SNTTA,0.033265,,,,124917.33*49 2021-08-13T12:49:17.171Z,1628858957.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 334.037095 deg, deltaT: 4.459714 s, approachRate: 0.443975 m/s, LOS rate: 5.228977 deg/s, posRepo size: 4 2021-08-13T12:49:17.182Z,1628858957.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.020000 m, bearing: 334.037095 deg, approachRate: 0.443975 m/s, LOS rate: 5.228977 deg/s, cmd update: 12.000000 deg/s, cmd heading: 322.110868 deg, new cmd heading: 327.641332 deg. 2021-08-13T12:49:19.526Z,1628858959.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:19.961Z,1628858959.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:19.962Z,1628858959.962 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:19.963Z,1628858959.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:19.965Z,1628858959.965 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:20.326Z,1628858960.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F2B,000,002E6,187,80,80,2B,FF 2021-08-13T12:49:20.326Z,1628858960.326 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:20.326Z,1628858960.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:20.327Z,1628858960.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:20.745Z,1628858960.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:21.134Z,1628858961.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,0030B,186,80,80,7E,FF 2021-08-13T12:49:21.134Z,1628858961.134 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:21.165Z,1628858961.165 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:21.577Z,1628858961.577 [Micromodem](INFO): Nmea in: $SNTTA,0.037070,,,,124921.85*43 2021-08-13T12:49:21.623Z,1628858961.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 326.161286 deg, deltaT: 4.451819 s, approachRate: 0.498673 m/s, LOS rate: -1.769122 deg/s, posRepo size: 4 2021-08-13T12:49:21.632Z,1628858961.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.240001 m, bearing: 326.161286 deg, approachRate: 0.498673 m/s, LOS rate: -1.769122 deg/s, cmd update: -5.307365 deg/s, cmd heading: 15.532206 deg, new cmd heading: 21.061290 deg. 2021-08-13T12:49:24.085Z,1628858964.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:24.366Z,1628858964.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:24.366Z,1628858964.366 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:24.366Z,1628858964.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:24.367Z,1628858964.367 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:24.791Z,1628858964.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E8C,000,0030B,186,80,80,7E,FF 2021-08-13T12:49:24.791Z,1628858964.791 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:24.791Z,1628858964.791 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:24.793Z,1628858964.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:25.177Z,1628858965.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:25.581Z,1628858965.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,0033B,189,80,80,46,FF 2021-08-13T12:49:25.582Z,1628858965.582 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:25.606Z,1628858965.606 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:26.049Z,1628858966.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124926.32*55 2021-08-13T12:49:26.115Z,1628858966.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 353.700663 deg, deltaT: 4.440661 s, approachRate: 0.648552 m/s, LOS rate: 6.201639 deg/s, posRepo size: 4 2021-08-13T12:49:26.117Z,1628858966.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.120000 m, bearing: 353.700663 deg, approachRate: 0.648552 m/s, LOS rate: 6.201639 deg/s, cmd update: 12.000000 deg/s, cmd heading: 351.963945 deg, new cmd heading: 349.247503 deg. 2021-08-13T12:49:28.456Z,1628858968.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:28.820Z,1628858968.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:28.820Z,1628858968.820 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:28.821Z,1628858968.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:28.822Z,1628858968.822 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:29.222Z,1628858969.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE3,000,0033B,189,80,80,46,FF 2021-08-13T12:49:29.222Z,1628858969.222 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:29.222Z,1628858969.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:29.224Z,1628858969.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:29.645Z,1628858969.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:30.030Z,1628858970.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00364,186,80,80,8D,FF 2021-08-13T12:49:30.030Z,1628858970.030 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:30.122Z,1628858970.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:30.480Z,1628858970.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124930.75*51 2021-08-13T12:49:30.500Z,1628858970.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 351.927109 deg, deltaT: 4.516362 s, approachRate: 0.544686 m/s, LOS rate: -0.392695 deg/s, posRepo size: 4 2021-08-13T12:49:30.500Z,1628858970.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.58 m. Rolling out. 2021-08-13T12:49:30.501Z,1628858970.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T12:49:30.899Z,1628858970.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T12:49:30.899Z,1628858970.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:49:30.899Z,1628858970.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T12:49:30.899Z,1628858970.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T12:49:30.899Z,1628858970.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T12:49:30.899Z,1628858970.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T12:49:30.904Z,1628858970.904 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T12:49:32.907Z,1628858972.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:33.261Z,1628858973.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:33.262Z,1628858973.262 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:33.262Z,1628858973.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:33.263Z,1628858973.263 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:33.677Z,1628858973.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E89,000,00364,186,80,80,8D,FF 2021-08-13T12:49:33.677Z,1628858973.677 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:33.677Z,1628858973.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:33.679Z,1628858973.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:34.065Z,1628858974.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:34.477Z,1628858974.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00383,184,80,80,5E,FF 2021-08-13T12:49:34.477Z,1628858974.477 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:34.529Z,1628858974.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:34.894Z,1628858974.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124935.20*54 2021-08-13T12:49:34.934Z,1628858974.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 347.535270 deg, deltaT: 4.406672 s, approachRate: 0.422087 m/s, LOS rate: -0.996634 deg/s, posRepo size: 4 2021-08-13T12:49:37.333Z,1628858977.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:37.701Z,1628858977.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:37.701Z,1628858977.701 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:37.701Z,1628858977.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:37.702Z,1628858977.702 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:38.109Z,1628858978.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02A,000,00383,184,80,80,5E,FF 2021-08-13T12:49:38.109Z,1628858978.109 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:38.109Z,1628858978.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:38.111Z,1628858978.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:38.580Z,1628858978.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:38.961Z,1628858978.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,0039C,186,80,80,4D,FF 2021-08-13T12:49:38.962Z,1628858978.962 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:39.026Z,1628858979.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:39.381Z,1628858979.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124939.64*58 2021-08-13T12:49:39.421Z,1628858979.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 19.405172 deg, deltaT: 4.496643 s, approachRate: 0.333582 m/s, LOS rate: 7.087487 deg/s, posRepo size: 4 2021-08-13T12:49:41.833Z,1628858981.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:42.193Z,1628858982.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:42.193Z,1628858982.193 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:42.193Z,1628858982.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:42.194Z,1628858982.194 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:42.611Z,1628858982.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E99,000,0039C,186,80,80,4D,FF 2021-08-13T12:49:42.611Z,1628858982.611 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:42.611Z,1628858982.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:42.613Z,1628858982.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:43.020Z,1628858983.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:49:43.410Z,1628858983.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,003A7,188,80,80,72,FF 2021-08-13T12:49:43.411Z,1628858983.411 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:43.437Z,1628858983.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:43.839Z,1628858983.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 33.973197 deg, deltaT: 4.411872 s, approachRate: 0.149597 m/s, LOS rate: 3.302005 deg/s, posRepo size: 4 2021-08-13T12:49:46.464Z,1628858986.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:46.630Z,1628858986.630 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:46.630Z,1628858986.630 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:46.630Z,1628858986.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:46.631Z,1628858986.631 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:47.037Z,1628858987.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E28,000,003A7,188,80,80,72,FF 2021-08-13T12:49:47.037Z,1628858987.037 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:47.037Z,1628858987.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:47.039Z,1628858987.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:49.130Z,1628858989.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:49.457Z,1628858989.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,06D71,186,80,80,61,FF 2021-08-13T12:49:49.457Z,1628858989.457 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:49:49.497Z,1628858989.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:49:49.981Z,1628858989.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1643.520020 m, bearing: 44.228258 deg, deltaT: 6.059626 s, approachRate: 268.155182 m/s, LOS rate: 1.692359 deg/s, posRepo size: 4 2021-08-13T12:49:49.981Z,1628858989.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1643.52 m. Resuming terminal guidance. 2021-08-13T12:49:49.982Z,1628858989.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T12:49:50.293Z,1628858990.293 [PowerOnly](INFO): Powering down loadControl 2021-08-13T12:49:50.349Z,1628858990.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T12:49:50.349Z,1628858990.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:49:50.350Z,1628858990.350 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T12:49:50.350Z,1628858990.350 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T12:49:50.351Z,1628858990.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T12:49:50.351Z,1628858990.351 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T12:49:50.359Z,1628858990.359 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T12:49:50.704Z,1628858990.704 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T12:49:50.705Z,1628858990.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:49:50.705Z,1628858990.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T12:49:50.705Z,1628858990.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:49:52.341Z,1628858992.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:52.693Z,1628858992.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:52.693Z,1628858992.693 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:52.693Z,1628858992.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:52.694Z,1628858992.694 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:53.090Z,1628858993.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E11,000,06D71,186,80,80,61,FF 2021-08-13T12:49:53.090Z,1628858993.090 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:53.090Z,1628858993.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:49:55.149Z,1628858995.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:55.972Z,1628858995.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:49:55.973Z,1628858995.973 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:49:55.974Z,1628858995.974 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:49:58.089Z,1628858998.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:49:58.349Z,1628858998.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:49:58.349Z,1628858998.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:49:58.349Z,1628858998.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:49:58.350Z,1628858998.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:49:58.362Z,1628858998.362 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:49:58.747Z,1628858998.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:49:58.747Z,1628858998.747 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:49:58.769Z,1628858998.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:00.810Z,1628859000.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:01.595Z,1628859001.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:01.595Z,1628859001.595 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:01.595Z,1628859001.595 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:50:03.635Z,1628859003.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:04.032Z,1628859004.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:04.032Z,1628859004.032 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:04.033Z,1628859004.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:04.034Z,1628859004.034 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:04.398Z,1628859004.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:04.398Z,1628859004.398 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:04.398Z,1628859004.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:06.458Z,1628859006.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:07.237Z,1628859007.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:07.237Z,1628859007.237 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:07.238Z,1628859007.238 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:50:09.274Z,1628859009.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:09.673Z,1628859009.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:09.673Z,1628859009.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:09.673Z,1628859009.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:09.674Z,1628859009.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:09.678Z,1628859009.678 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:10.065Z,1628859010.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:10.065Z,1628859010.065 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:10.065Z,1628859010.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:10.067Z,1628859010.067 [Micromodem](FAULT): Failed to receive CAREV within timeout 2021-08-13T12:50:10.067Z,1628859010.067 [Micromodem] Hardware Fault, FailCount= 1 2021-08-13T12:50:10.067Z,1628859010.067 [Micromodem](ERROR): Hardware Fault 2021-08-13T12:50:10.163Z,1628859010.163 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T12:50:10.163Z,1628859010.163 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T12:50:10.172Z,1628859010.172 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T12:50:10.172Z,1628859010.172 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:50:10.172Z,1628859010.172 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T12:50:10.404Z,1628859010.404 [CBIT](ERROR): Hardware Fault in component: Micromodem 2021-08-13T12:50:10.667Z,1628859010.667 [Micromodem](INFO): Powering down 2021-08-13T12:50:11.058Z,1628859011.058 [Micromodem](FAULT): LCB 2 fault: Software Overcurrent. 2021-08-13T12:50:11.624Z,1628859011.624 [CBIT](INFO): Clearing failed state for component Micromodem 2021-08-13T12:50:11.624Z,1628859011.624 [Micromodem] No Fault, FailCount= 1 2021-08-13T12:50:11.918Z,1628859011.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:13.082Z,1628859013.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:13.082Z,1628859013.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:13.082Z,1628859013.082 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:50:14.299Z,1628859014.299 [Micromodem](INFO): Powering up 2021-08-13T12:50:14.300Z,1628859014.300 [Micromodem](DEBUG): Initializing Micromodem. 2021-08-13T12:50:14.726Z,1628859014.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:15.097Z,1628859015.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:15.097Z,1628859015.097 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:15.097Z,1628859015.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:15.098Z,1628859015.098 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:15.501Z,1628859015.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:15.501Z,1628859015.501 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:15.502Z,1628859015.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:17.237Z,1628859017.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:18.382Z,1628859018.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:18.383Z,1628859018.383 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:18.383Z,1628859018.383 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:50:20.093Z,1628859020.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:20.401Z,1628859020.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:20.401Z,1628859020.401 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:20.401Z,1628859020.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:20.402Z,1628859020.402 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:20.414Z,1628859020.414 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing 2021-08-13T12:50:20.414Z,1628859020.414 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-08-13T12:50:20.415Z,1628859020.415 [RDI_Pathfinder](ERROR): Communications Fault 2021-08-13T12:50:20.593Z,1628859020.593 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-08-13T12:50:20.815Z,1628859020.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,61,FF 2021-08-13T12:50:20.815Z,1628859020.815 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:20.815Z,1628859020.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:20.819Z,1628859020.819 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:20.897Z,1628859020.897 [RDI_Pathfinder](INFO): Powering down 2021-08-13T12:50:21.219Z,1628859021.219 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T12:50:20.752394Z,RTC,RTC*51 2021-08-13T12:50:21.220Z,1628859021.220 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T12:50:20.752394Z,RTC,RTC*51 2021-08-13T12:50:21.634Z,1628859021.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00451,186,80,80,69,FF 2021-08-13T12:50:21.634Z,1628859021.634 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:50:21.642Z,1628859021.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:21.656Z,1628859021.656 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33 2021-08-13T12:50:21.812Z,1628859021.812 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-08-13T12:50:21.812Z,1628859021.812 [RDI_Pathfinder] No Fault, FailCount= 1 2021-08-13T12:50:22.057Z,1628859022.057 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31 2021-08-13T12:50:22.057Z,1628859022.057 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31 2021-08-13T12:50:22.127Z,1628859022.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 106.386145 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T12:50:22.127Z,1628859022.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.80 m. 2021-08-13T12:50:22.138Z,1628859022.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 106.386145deg and heading rate command to 0 deg/s. 2021-08-13T12:50:22.462Z,1628859022.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125022.34*5F 2021-08-13T12:50:22.462Z,1628859022.462 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,125022.34*5F 2021-08-13T12:50:22.465Z,1628859022.465 [PowerOnly](INFO): Powering up loadControl 2021-08-13T12:50:22.511Z,1628859022.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T12:50:22.511Z,1628859022.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:50:22.512Z,1628859022.512 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T12:50:22.513Z,1628859022.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T12:50:22.513Z,1628859022.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T12:50:22.514Z,1628859022.514 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T12:50:22.917Z,1628859022.917 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T12:50:22.918Z,1628859022.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:50:22.918Z,1628859022.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T12:50:22.918Z,1628859022.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:50:23.681Z,1628859023.681 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33 2021-08-13T12:50:23.682Z,1628859023.682 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 2021-08-13T12:50:24.082Z,1628859024.082 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 2021-08-13T12:50:24.082Z,1628859024.082 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F 2021-08-13T12:50:24.473Z,1628859024.473 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D 2021-08-13T12:50:24.474Z,1628859024.474 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E 2021-08-13T12:50:24.558Z,1628859024.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:24.892Z,1628859024.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:24.892Z,1628859024.892 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:24.893Z,1628859024.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:24.894Z,1628859024.894 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:24.899Z,1628859024.899 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C 2021-08-13T12:50:24.901Z,1628859024.901 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47 2021-08-13T12:50:25.277Z,1628859025.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 10D,000,00451,186,80,80,69,FF 2021-08-13T12:50:25.277Z,1628859025.277 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:25.278Z,1628859025.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:25.279Z,1628859025.279 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45 2021-08-13T12:50:25.279Z,1628859025.279 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63 2021-08-13T12:50:25.662Z,1628859025.662 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61 2021-08-13T12:50:25.662Z,1628859025.662 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A 2021-08-13T12:50:26.058Z,1628859026.058 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38 2021-08-13T12:50:26.058Z,1628859026.058 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,13,12,50,27*4C 2021-08-13T12:50:26.471Z,1628859026.471 [Micromodem](INFO): Nmea in: $CACLK,2021,8,13,12,50,27*7E 2021-08-13T12:50:26.666Z,1628859026.666 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 696616610F0000005D00000400260000000000000000151D80030C5669C08C79985CC9BE385EDF4743AAFCA10EF9D5F3A30E4DC46AC4CE8129FDDC00 2021-08-13T12:50:26.666Z,1628859026.666 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T12:50:26.742Z,1628859026.742 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T12:50:26.742Z,1628859026.742 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T12:50:26.742Z,1628859026.742 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T12:50:26.742Z,1628859026.742 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T12:50:26.742Z,1628859026.742 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T12:50:26.880Z,1628859026.880 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-13T12:50:28Z*71 2021-08-13T12:50:26.883Z,1628859026.883 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T12:50:28.028743Z,USER_CMD,RTC*1C 2021-08-13T12:50:26.883Z,1628859026.883 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T12:50:28.028743Z,USER_CMD,RTC*1C 2021-08-13T12:50:27.278Z,1628859027.278 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T12:50:27.279Z,1628859027.279 [Micromodem](INFO): Nmea in: $CADRQ,125028,1,10,0,64,1*7A 2021-08-13T12:50:27.280Z,1628859027.280 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,696616610F0000005D00000400260000000000000000151D80030C5669C08C79985CC9BE385EDF4743AAFCA10EF9D5F3A30E4DC46AC4CE8129FDDC00*4F 2021-08-13T12:50:27.425Z,1628859027.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:27.678Z,1628859027.678 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T12:50:27.679Z,1628859027.679 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T12:50:29.318Z,1628859029.318 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T12:50:29.320Z,1628859029.320 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,125028.824189,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*51 2021-08-13T12:50:29.988Z,1628859029.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:30.984Z,1628859030.984 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.090882 2021-08-13T12:50:31.367Z,1628859031.367 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T12:50:31.372Z,1628859031.372 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813125031.630756,06,31970,45,0118,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,-3.9,2.68,07,0.32,-01,-0.05,73,14500,4000*79 2021-08-13T12:50:32.612Z,1628859032.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:33.019Z,1628859033.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:33.019Z,1628859033.019 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:33.019Z,1628859033.019 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:33.022Z,1628859033.022 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:33.385Z,1628859033.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 10D,000,00451,186,80,80,69,FF 2021-08-13T12:50:33.385Z,1628859033.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:33.385Z,1628859033.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:33.387Z,1628859033.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:33.798Z,1628859033.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:34.193Z,1628859034.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00453,185,80,80,38,FF 2021-08-13T12:50:34.193Z,1628859034.193 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:50:34.266Z,1628859034.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:50:34.647Z,1628859034.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125034.91*57 2021-08-13T12:50:34.709Z,1628859034.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 113.215891 deg, deltaT: 12.566595 s, approachRate: 0.009549 m/s, LOS rate: 0.543484 deg/s, posRepo size: 2 2021-08-13T12:50:34.710Z,1628859034.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.92 m. 2021-08-13T12:50:34.716Z,1628859034.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.920000 m, bearing: 113.215891 deg, approachRate: 0.009549 m/s, LOS rate: 0.543484 deg/s, cmd update: 1.630452 deg/s, cmd heading: 106.386145 deg, new cmd heading: 106.386145 deg. 2021-08-13T12:50:37.071Z,1628859037.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:37.425Z,1628859037.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:37.425Z,1628859037.425 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:37.425Z,1628859037.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:37.426Z,1628859037.426 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:37.829Z,1628859037.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDD,000,00453,185,80,80,38,FF 2021-08-13T12:50:37.829Z,1628859037.829 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:37.829Z,1628859037.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:37.831Z,1628859037.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:38.236Z,1628859038.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:38.641Z,1628859038.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,0046A,189,80,80,55,FF 2021-08-13T12:50:38.641Z,1628859038.641 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:50:38.662Z,1628859038.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:50:39.086Z,1628859039.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125039.35*54 2021-08-13T12:50:39.119Z,1628859039.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 138.425504 deg, deltaT: 4.395444 s, approachRate: 0.313962 m/s, LOS rate: 5.735397 deg/s, posRepo size: 3 2021-08-13T12:50:39.119Z,1628859039.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.30 m. 2021-08-13T12:50:39.119Z,1628859039.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.30 m. 2021-08-13T12:50:39.120Z,1628859039.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T12:50:39.122Z,1628859039.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.300001 m, bearing: 138.425504 deg, approachRate: 0.313962 m/s, LOS rate: 5.735397 deg/s, cmd update: 12.000000 deg/s, cmd heading: 113.566190 deg, new cmd heading: 114.315686 deg. 2021-08-13T12:50:41.503Z,1628859041.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:41.874Z,1628859041.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:41.874Z,1628859041.874 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:41.874Z,1628859041.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:41.875Z,1628859041.875 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:42.282Z,1628859042.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DD3,000,0046A,189,80,80,55,FF 2021-08-13T12:50:42.282Z,1628859042.282 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:42.282Z,1628859042.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:42.284Z,1628859042.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:42.417Z,1628859042.417 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T12:50:42.685Z,1628859042.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:43.502Z,1628859043.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125043.84*53 2021-08-13T12:50:44.029Z,1628859044.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:45.917Z,1628859045.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,189,80,80,55,FF 2021-08-13T12:50:45.917Z,1628859045.917 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,189,80,80,55,FF 2021-08-13T12:50:45.917Z,1628859045.917 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:50:46.743Z,1628859046.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:47.136Z,1628859047.136 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:47.136Z,1628859047.136 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:47.137Z,1628859047.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:47.137Z,1628859047.137 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:47.533Z,1628859047.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,189,80,80,55,FF 2021-08-13T12:50:47.533Z,1628859047.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:47.534Z,1628859047.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:47.535Z,1628859047.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:47.948Z,1628859047.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:48.337Z,1628859048.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,00494,189,80,80,76,FF 2021-08-13T12:50:48.338Z,1628859048.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:50:48.427Z,1628859048.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:50:48.781Z,1628859048.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125049.06*53 2021-08-13T12:50:48.810Z,1628859048.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 167.690269 deg, deltaT: 9.765585 s, approachRate: 0.258049 m/s, LOS rate: 2.996724 deg/s, posRepo size: 4 2021-08-13T12:50:48.836Z,1628859048.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.820000 m, bearing: 167.690269 deg, approachRate: 0.258049 m/s, LOS rate: 2.996724 deg/s, cmd update: 8.990172 deg/s, cmd heading: 230.750801 deg, new cmd heading: 235.378133 deg. 2021-08-13T12:50:51.189Z,1628859051.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:51.597Z,1628859051.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:51.597Z,1628859051.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:51.597Z,1628859051.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:51.598Z,1628859051.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:51.989Z,1628859051.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB2,000,00494,189,80,80,76,FF 2021-08-13T12:50:51.989Z,1628859051.989 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:51.989Z,1628859051.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:51.991Z,1628859051.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:52.381Z,1628859052.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:52.785Z,1628859052.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,0049C,189,80,80,94,FF 2021-08-13T12:50:52.786Z,1628859052.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:50:52.810Z,1628859052.810 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:50:53.206Z,1628859053.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125053.51*5A 2021-08-13T12:50:53.233Z,1628859053.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 192.515917 deg, deltaT: 4.382956 s, approachRate: 0.109516 m/s, LOS rate: 5.664133 deg/s, posRepo size: 4 2021-08-13T12:50:53.235Z,1628859053.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.300003 m, bearing: 192.515917 deg, approachRate: 0.109516 m/s, LOS rate: 5.664133 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.155113 deg, new cmd heading: 273.976269 deg. 2021-08-13T12:50:55.640Z,1628859055.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:50:56.025Z,1628859056.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:50:56.025Z,1628859056.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:50:56.025Z,1628859056.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:50:56.026Z,1628859056.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:50:56.437Z,1628859056.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D24,000,0049C,189,80,80,94,FF 2021-08-13T12:50:56.438Z,1628859056.438 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:50:56.438Z,1628859056.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:50:56.439Z,1628859056.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:50:57.041Z,1628859057.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:50:57.445Z,1628859057.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00495,189,80,80,71,FF 2021-08-13T12:50:57.446Z,1628859057.446 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:50:57.509Z,1628859057.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:50:57.859Z,1628859057.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125057.96*55 2021-08-13T12:50:57.887Z,1628859057.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 235.521015 deg, deltaT: 4.698758 s, approachRate: -0.089386 m/s, LOS rate: 9.152439 deg/s, posRepo size: 4 2021-08-13T12:50:57.891Z,1628859057.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.880001 m, bearing: 235.521015 deg, approachRate: -0.089386 m/s, LOS rate: 9.152439 deg/s, cmd update: 12.000000 deg/s, cmd heading: 326.140744 deg, new cmd heading: 331.101208 deg. 2021-08-13T12:51:00.275Z,1628859060.275 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T12:51:00.362Z,1628859060.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:00.672Z,1628859060.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:00.672Z,1628859060.672 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:00.673Z,1628859060.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:00.674Z,1628859060.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:01.082Z,1628859061.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,00495,189,80,80,71,FF 2021-08-13T12:51:01.082Z,1628859061.082 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:01.082Z,1628859061.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:01.084Z,1628859061.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:01.485Z,1628859061.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:01.880Z,1628859061.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE8,000,00486,189,80,80,9F,FF 2021-08-13T12:51:01.881Z,1628859061.881 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:01.928Z,1628859061.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:02.333Z,1628859062.333 [Micromodem](INFO): Nmea in: $SNTTA,0.081989,,,,125102.61*43 2021-08-13T12:51:02.415Z,1628859062.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 230.979321 deg, deltaT: 4.419114 s, approachRate: -0.203662 m/s, LOS rate: -1.027738 deg/s, posRepo size: 4 2021-08-13T12:51:02.417Z,1628859062.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.979998 m, bearing: 230.979321 deg, approachRate: -0.203662 m/s, LOS rate: -1.027738 deg/s, cmd update: -3.083215 deg/s, cmd heading: 19.327961 deg, new cmd heading: 25.446905 deg. 2021-08-13T12:51:04.731Z,1628859064.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:05.125Z,1628859065.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:05.125Z,1628859065.125 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:05.125Z,1628859065.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:05.126Z,1628859065.126 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:05.513Z,1628859065.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE8,000,00486,189,80,80,9F,FF 2021-08-13T12:51:05.513Z,1628859065.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:05.513Z,1628859065.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:05.515Z,1628859065.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:05.960Z,1628859065.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:06.320Z,1628859066.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,00477,189,80,80,8A,FF 2021-08-13T12:51:06.320Z,1628859066.320 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:06.381Z,1628859066.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:06.765Z,1628859066.765 [Micromodem](INFO): Nmea in: $SNTTA,0.042785,,,,125107.04*48 2021-08-13T12:51:06.801Z,1628859066.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 232.994090 deg, deltaT: 4.452967 s, approachRate: -0.202112 m/s, LOS rate: 0.452455 deg/s, posRepo size: 4 2021-08-13T12:51:06.803Z,1628859066.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.080000 m, bearing: 232.994090 deg, approachRate: -0.202112 m/s, LOS rate: 0.452455 deg/s, cmd update: 1.357366 deg/s, cmd heading: 5.598588 deg, new cmd heading: 4.232261 deg. 2021-08-13T12:51:09.190Z,1628859069.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:09.568Z,1628859069.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:09.568Z,1628859069.568 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:09.568Z,1628859069.568 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:09.569Z,1628859069.569 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:09.989Z,1628859069.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D98,000,00477,189,80,80,8A,FF 2021-08-13T12:51:09.989Z,1628859069.989 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:09.989Z,1628859069.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:09.991Z,1628859069.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:10.388Z,1628859070.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:10.793Z,1628859070.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC3,000,00458,189,80,80,5C,FF 2021-08-13T12:51:10.794Z,1628859070.794 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:10.814Z,1628859070.814 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:11.225Z,1628859071.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125111.51*5D 2021-08-13T12:51:11.310Z,1628859071.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 246.296594 deg, deltaT: 4.432806 s, approachRate: -0.419599 m/s, LOS rate: 3.000922 deg/s, posRepo size: 4 2021-08-13T12:51:11.313Z,1628859071.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.219999 m, bearing: 246.296594 deg, approachRate: -0.419599 m/s, LOS rate: 3.000922 deg/s, cmd update: 9.002765 deg/s, cmd heading: 11.642493 deg, new cmd heading: 12.307128 deg. 2021-08-13T12:51:13.644Z,1628859073.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:14.029Z,1628859074.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:14.029Z,1628859074.029 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:14.029Z,1628859074.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:14.030Z,1628859074.030 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:14.421Z,1628859074.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BC3,000,00458,189,80,80,5C,FF 2021-08-13T12:51:14.421Z,1628859074.421 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:14.421Z,1628859074.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:14.423Z,1628859074.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:14.883Z,1628859074.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:15.277Z,1628859075.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,00443,189,80,80,86,FF 2021-08-13T12:51:15.278Z,1628859075.278 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:15.336Z,1628859075.336 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:15.693Z,1628859075.693 [Micromodem](INFO): Nmea in: $SNTTA,0.055225,,,,125115.95*4A 2021-08-13T12:51:15.716Z,1628859075.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 235.869627 deg, deltaT: 4.521924 s, approachRate: -0.278643 m/s, LOS rate: -2.305870 deg/s, posRepo size: 4 2021-08-13T12:51:15.718Z,1628859075.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.959997 m, bearing: 235.869627 deg, approachRate: -0.278643 m/s, LOS rate: -2.305870 deg/s, cmd update: -6.917609 deg/s, cmd heading: 52.102152 deg, new cmd heading: 55.801217 deg. 2021-08-13T12:51:18.191Z,1628859078.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:18.505Z,1628859078.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:18.505Z,1628859078.505 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:18.505Z,1628859078.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:18.506Z,1628859078.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:18.917Z,1628859078.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D88,000,00443,189,80,80,86,FF 2021-08-13T12:51:18.917Z,1628859078.917 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:18.917Z,1628859078.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:18.928Z,1628859078.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:19.317Z,1628859079.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:19.725Z,1628859079.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0042C,189,80,80,A6,FF 2021-08-13T12:51:19.725Z,1628859079.725 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:19.765Z,1628859079.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:20.177Z,1628859080.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125120.45*5A 2021-08-13T12:51:20.259Z,1628859080.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 260.145513 deg, deltaT: 4.429424 s, approachRate: -0.311552 m/s, LOS rate: 5.480596 deg/s, posRepo size: 4 2021-08-13T12:51:20.279Z,1628859080.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.580002 m, bearing: 260.145513 deg, approachRate: -0.311552 m/s, LOS rate: 5.480596 deg/s, cmd update: 12.000000 deg/s, cmd heading: 21.265251 deg, new cmd heading: 17.843940 deg. 2021-08-13T12:51:22.285Z,1628859082.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:22.545Z,1628859082.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:22.545Z,1628859082.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:22.545Z,1628859082.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:22.546Z,1628859082.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:22.981Z,1628859082.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,0042C,189,80,80,A6,FF 2021-08-13T12:51:22.981Z,1628859082.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:22.981Z,1628859082.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:22.983Z,1628859082.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:23.362Z,1628859083.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:23.765Z,1628859083.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,00426,189,80,80,2F,FF 2021-08-13T12:51:23.766Z,1628859083.766 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:23.791Z,1628859083.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:24.221Z,1628859084.221 [Micromodem](INFO): Nmea in: $SNTTA,0.469626,0.469551,,,125124.51*58 2021-08-13T12:51:24.309Z,1628859084.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 142.544013 deg, deltaT: 4.025397 s, approachRate: -0.089433 m/s, LOS rate: -29.214881 deg/s, posRepo size: 4 2021-08-13T12:51:24.310Z,1628859084.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -29.214881 deg/s. Setting heading cmd to target bearing of 142.544013deg and heading rate command to 0 deg/s. 2021-08-13T12:51:26.614Z,1628859086.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:27.028Z,1628859087.028 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:27.029Z,1628859087.029 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:27.029Z,1628859087.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:27.030Z,1628859087.030 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:27.390Z,1628859087.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 320,000,00426,189,80,80,2F,FF 2021-08-13T12:51:27.390Z,1628859087.390 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:27.390Z,1628859087.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:27.392Z,1628859087.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:27.800Z,1628859087.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:28.208Z,1628859088.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00422,185,80,80,93,FF 2021-08-13T12:51:28.209Z,1628859088.209 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:28.217Z,1628859088.217 [Micromodem](INFO): Nmea in: $SNTTA,0.307705,0.307549,,,125128.91*51 2021-08-13T12:51:28.310Z,1628859088.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:28.641Z,1628859088.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 186.584608 deg, deltaT: 4.518972 s, approachRate: -0.053110 m/s, LOS rate: 9.745711 deg/s, posRepo size: 4 2021-08-13T12:51:28.643Z,1628859088.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.979996 m, bearing: 186.584608 deg, approachRate: -0.053110 m/s, LOS rate: 9.745711 deg/s, cmd update: 12.000000 deg/s, cmd heading: 142.544013 deg, new cmd heading: 142.544013 deg. 2021-08-13T12:51:31.105Z,1628859091.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:31.465Z,1628859091.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:31.465Z,1628859091.465 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:31.465Z,1628859091.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:31.466Z,1628859091.466 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:31.878Z,1628859091.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E3C,000,00422,185,80,80,93,FF 2021-08-13T12:51:31.878Z,1628859091.878 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:31.878Z,1628859091.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:31.881Z,1628859091.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:32.293Z,1628859092.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:32.677Z,1628859092.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C99,000,0043C,189,80,80,59,FF 2021-08-13T12:51:32.678Z,1628859092.678 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:32.698Z,1628859092.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:33.125Z,1628859093.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125133.40*5D 2021-08-13T12:51:33.151Z,1628859093.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.539997 m, bearing: 190.233541 deg, deltaT: 4.388222 s, approachRate: 0.355497 m/s, LOS rate: 0.831529 deg/s, posRepo size: 4 2021-08-13T12:51:33.153Z,1628859093.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.539997 m, bearing: 190.233541 deg, approachRate: 0.355497 m/s, LOS rate: 0.831529 deg/s, cmd update: 2.494586 deg/s, cmd heading: 195.202486 deg, new cmd heading: 200.675303 deg. 2021-08-13T12:51:35.523Z,1628859095.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:35.913Z,1628859095.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:35.913Z,1628859095.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:35.913Z,1628859095.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:35.914Z,1628859095.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:36.309Z,1628859096.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C99,000,0043C,189,80,80,59,FF 2021-08-13T12:51:36.309Z,1628859096.309 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:36.309Z,1628859096.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:36.311Z,1628859096.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:36.720Z,1628859096.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:37.121Z,1628859097.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00460,187,80,80,6E,FF 2021-08-13T12:51:37.121Z,1628859097.121 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:37.172Z,1628859097.172 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:37.553Z,1628859097.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125137.84*51 2021-08-13T12:51:37.590Z,1628859097.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 169.046431 deg, deltaT: 4.474131 s, approachRate: 0.482775 m/s, LOS rate: -4.735469 deg/s, posRepo size: 4 2021-08-13T12:51:37.593Z,1628859097.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.699997 m, bearing: 169.046431 deg, approachRate: 0.482775 m/s, LOS rate: -4.735469 deg/s, cmd update: -12.000000 deg/s, cmd heading: 206.313150 deg, new cmd heading: 207.414702 deg. 2021-08-13T12:51:39.000Z,1628859100.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:40.349Z,1628859100.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:40.349Z,1628859100.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:40.349Z,1628859100.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:40.350Z,1628859100.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:40.761Z,1628859100.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E35,000,00460,187,80,80,6E,FF 2021-08-13T12:51:40.762Z,1628859100.762 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:40.762Z,1628859100.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:40.763Z,1628859100.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:41.161Z,1628859101.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:42.002Z,1628859102.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125142.29*54 2021-08-13T12:51:42.785Z,1628859102.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,037D4,187,80,80,3A,FF 2021-08-13T12:51:42.786Z,1628859102.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:42.805Z,1628859102.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:43.222Z,1628859103.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 820.020020 m, bearing: 192.781051 deg, deltaT: 5.633257 s, approachRate: 140.295395 m/s, LOS rate: 4.213303 deg/s, posRepo size: 4 2021-08-13T12:51:43.224Z,1628859103.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 820.020020 m, bearing: 192.781051 deg, approachRate: 140.295395 m/s, LOS rate: 4.213303 deg/s, cmd update: 12.000000 deg/s, cmd heading: 138.470596 deg, new cmd heading: 133.439619 deg. 2021-08-13T12:51:43.613Z,1628859103.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T12:51:43.614Z,1628859103.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:51:43.614Z,1628859103.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T12:51:43.614Z,1628859103.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T12:51:43.615Z,1628859103.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T12:51:43.615Z,1628859103.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T12:51:44.065Z,1628859104.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T12:51:44.065Z,1628859104.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:51:44.066Z,1628859104.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T12:51:44.066Z,1628859104.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:51:45.635Z,1628859105.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:46.032Z,1628859106.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:46.033Z,1628859106.033 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:46.033Z,1628859106.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:46.034Z,1628859106.034 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:46.409Z,1628859106.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF4,000,037D4,187,80,80,3A,FF 2021-08-13T12:51:46.409Z,1628859106.409 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:46.409Z,1628859106.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:46.411Z,1628859106.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:46.817Z,1628859106.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:47.231Z,1628859107.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,0049D,189,80,80,6E,FF 2021-08-13T12:51:47.233Z,1628859107.233 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:47.653Z,1628859107.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125147.93*50 2021-08-13T12:51:47.685Z,1628859107.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.360001 m, bearing: 141.700402 deg, deltaT: 4.496474 s, approachRate: -174.950424 m/s, LOS rate: -11.360157 deg/s, posRepo size: 4 2021-08-13T12:51:47.687Z,1628859107.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.360001 m, bearing: 141.700402 deg, approachRate: -174.950424 m/s, LOS rate: -11.360157 deg/s, cmd update: -12.000000 deg/s, cmd heading: 192.382962 deg, new cmd heading: 197.056518 deg. 2021-08-13T12:51:48.084Z,1628859108.084 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T12:51:48.084Z,1628859108.084 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:51:48.084Z,1628859108.084 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T12:51:48.085Z,1628859108.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T12:51:48.085Z,1628859108.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T12:51:48.085Z,1628859108.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T12:51:48.486Z,1628859108.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T12:51:48.486Z,1628859108.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:51:48.486Z,1628859108.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T12:51:48.486Z,1628859108.486 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:51:50.133Z,1628859110.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:50.457Z,1628859110.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:50.457Z,1628859110.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:50.457Z,1628859110.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:50.458Z,1628859110.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:50.853Z,1628859110.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 284,000,0049D,189,80,80,6E,FF 2021-08-13T12:51:50.853Z,1628859110.853 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:50.853Z,1628859110.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:50.855Z,1628859110.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:51.268Z,1628859111.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:51.661Z,1628859111.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,004B8,189,80,80,A0,FF 2021-08-13T12:51:51.662Z,1628859111.662 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:51.702Z,1628859111.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:52.137Z,1628859112.137 [Micromodem](INFO): Nmea in: $SNTTA,0.045364,,,,125152.38*4B 2021-08-13T12:51:52.221Z,1628859112.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 195.110733 deg, deltaT: 4.400393 s, approachRate: 0.368149 m/s, LOS rate: 12.137628 deg/s, posRepo size: 4 2021-08-13T12:51:52.230Z,1628859112.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.137628 deg/s. Setting heading cmd to target bearing of 195.110733deg and heading rate command to 0 deg/s. 2021-08-13T12:51:54.546Z,1628859114.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:54.894Z,1628859114.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:54.894Z,1628859114.894 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:54.894Z,1628859114.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:54.895Z,1628859114.895 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:55.313Z,1628859115.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D77,000,004B8,189,80,80,A0,FF 2021-08-13T12:51:55.313Z,1628859115.313 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:55.313Z,1628859115.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:55.315Z,1628859115.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:51:55.709Z,1628859115.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:51:56.129Z,1628859116.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,004D6,188,80,80,46,FF 2021-08-13T12:51:56.130Z,1628859116.130 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:51:56.235Z,1628859116.235 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:51:56.537Z,1628859116.537 [Micromodem](INFO): Nmea in: $SNTTA,0.065501,,,,125156.84*4F 2021-08-13T12:51:56.580Z,1628859116.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 200.587083 deg, deltaT: 4.533025 s, approachRate: 0.397086 m/s, LOS rate: 1.208101 deg/s, posRepo size: 4 2021-08-13T12:51:56.582Z,1628859116.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.779999 m, bearing: 200.587083 deg, approachRate: 0.397086 m/s, LOS rate: 1.208101 deg/s, cmd update: 3.624302 deg/s, cmd heading: 195.110733 deg, new cmd heading: 195.110733 deg. 2021-08-13T12:51:59.007Z,1628859119.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:51:59.347Z,1628859119.347 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:51:59.347Z,1628859119.347 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:51:59.347Z,1628859119.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:51:59.348Z,1628859119.348 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:51:59.745Z,1628859119.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DD2,000,004D6,188,80,80,46,FF 2021-08-13T12:51:59.745Z,1628859119.745 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:51:59.745Z,1628859119.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:51:59.747Z,1628859119.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:00.212Z,1628859120.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:00.553Z,1628859120.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,004EF,188,80,80,80,FF 2021-08-13T12:52:00.554Z,1628859120.554 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:00.574Z,1628859120.574 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:01.001Z,1628859121.001 [Micromodem](INFO): Nmea in: $SNTTA,0.041055,,,,125201.27*45 2021-08-13T12:52:01.039Z,1628859121.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 209.002040 deg, deltaT: 4.338261 s, approachRate: 0.345761 m/s, LOS rate: 1.939707 deg/s, posRepo size: 4 2021-08-13T12:52:01.042Z,1628859121.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.279999 m, bearing: 209.002040 deg, approachRate: 0.345761 m/s, LOS rate: 1.939707 deg/s, cmd update: 5.819122 deg/s, cmd heading: 210.835237 deg, new cmd heading: 212.534454 deg. 2021-08-13T12:52:03.446Z,1628859123.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:03.789Z,1628859123.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:03.789Z,1628859123.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:03.790Z,1628859123.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:03.791Z,1628859123.791 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:04.218Z,1628859124.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DED,000,004EF,188,80,80,80,FF 2021-08-13T12:52:04.218Z,1628859124.218 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:04.219Z,1628859124.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:04.221Z,1628859124.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:04.601Z,1628859124.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:05.026Z,1628859125.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,004FB,188,80,80,A1,FF 2021-08-13T12:52:05.027Z,1628859125.027 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:05.112Z,1628859125.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:05.426Z,1628859125.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125205.75*5D 2021-08-13T12:52:05.427Z,1628859125.427 [PowerOnly](INFO): Powering down loadControl 2021-08-13T12:52:05.464Z,1628859125.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 232.674929 deg, deltaT: 4.542094 s, approachRate: 0.158517 m/s, LOS rate: 5.211889 deg/s, posRepo size: 4 2021-08-13T12:52:05.466Z,1628859125.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.999996 m, bearing: 232.674929 deg, approachRate: 0.158517 m/s, LOS rate: 5.211889 deg/s, cmd update: 12.000000 deg/s, cmd heading: 237.150035 deg, new cmd heading: 239.286945 deg. 2021-08-13T12:52:07.855Z,1628859127.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:08.237Z,1628859128.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:08.237Z,1628859128.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:08.237Z,1628859128.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:08.238Z,1628859128.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:08.641Z,1628859128.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D6A,000,004FB,188,80,80,A1,FF 2021-08-13T12:52:08.641Z,1628859128.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:08.641Z,1628859128.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:08.643Z,1628859128.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:09.044Z,1628859129.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:09.453Z,1628859129.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,004FA,188,80,80,91,FF 2021-08-13T12:52:09.453Z,1628859129.453 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:09.501Z,1628859129.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:09.882Z,1628859129.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125210.17*5D 2021-08-13T12:52:09.935Z,1628859129.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 253.020724 deg, deltaT: 4.385664 s, approachRate: -0.013680 m/s, LOS rate: 4.639160 deg/s, posRepo size: 4 2021-08-13T12:52:09.958Z,1628859129.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.939999 m, bearing: 253.020724 deg, approachRate: -0.013680 m/s, LOS rate: 4.639160 deg/s, cmd update: 12.000000 deg/s, cmd heading: 289.969309 deg, new cmd heading: 295.234141 deg. 2021-08-13T12:52:12.396Z,1628859132.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:12.673Z,1628859132.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:12.673Z,1628859132.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:12.673Z,1628859132.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:12.674Z,1628859132.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:13.082Z,1628859133.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D4A,000,004FA,188,80,80,91,FF 2021-08-13T12:52:13.082Z,1628859133.082 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:13.082Z,1628859133.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:13.083Z,1628859133.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:13.485Z,1628859133.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:13.894Z,1628859133.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,004EE,189,80,80,84,FF 2021-08-13T12:52:13.894Z,1628859133.894 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:13.916Z,1628859133.916 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:14.321Z,1628859134.321 [Micromodem](INFO): Nmea in: $SNTTA,0.038125,,,,125214.61*4B 2021-08-13T12:52:14.399Z,1628859134.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 302.137325 deg, deltaT: 4.414972 s, approachRate: -0.163081 m/s, LOS rate: 11.125009 deg/s, posRepo size: 4 2021-08-13T12:52:14.405Z,1628859134.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.220001 m, bearing: 302.137325 deg, approachRate: -0.163081 m/s, LOS rate: 11.125009 deg/s, cmd update: 12.000000 deg/s, cmd heading: 342.995174 deg, new cmd heading: 348.825771 deg. 2021-08-13T12:52:16.743Z,1628859136.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:17.125Z,1628859137.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:17.125Z,1628859137.125 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:17.126Z,1628859137.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:17.126Z,1628859137.126 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:17.521Z,1628859137.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,004EE,189,80,80,84,FF 2021-08-13T12:52:17.521Z,1628859137.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:17.521Z,1628859137.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:17.523Z,1628859137.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:17.954Z,1628859137.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:18.329Z,1628859138.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,004D4,189,80,80,6E,FF 2021-08-13T12:52:18.329Z,1628859138.329 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:18.419Z,1628859138.419 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:18.773Z,1628859138.773 [Micromodem](INFO): Nmea in: $SNTTA,0.045762,,,,125219.05*4B 2021-08-13T12:52:18.796Z,1628859138.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 295.202825 deg, deltaT: 4.507271 s, approachRate: -0.346108 m/s, LOS rate: -1.538514 deg/s, posRepo size: 4 2021-08-13T12:52:18.798Z,1628859138.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.660000 m, bearing: 295.202825 deg, approachRate: -0.346108 m/s, LOS rate: -1.538514 deg/s, cmd update: -4.615542 deg/s, cmd heading: 36.978700 deg, new cmd heading: 41.585476 deg. 2021-08-13T12:52:21.204Z,1628859141.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:21.561Z,1628859141.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:21.561Z,1628859141.561 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:21.561Z,1628859141.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:21.562Z,1628859141.562 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:21.985Z,1628859141.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D2F,000,004D4,189,80,80,6E,FF 2021-08-13T12:52:21.985Z,1628859141.985 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:21.985Z,1628859141.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:21.987Z,1628859141.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:22.376Z,1628859142.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:22.782Z,1628859142.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,004AE,189,80,80,56,FF 2021-08-13T12:52:22.782Z,1628859142.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:22.802Z,1628859142.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:23.221Z,1628859143.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125223.51*5F 2021-08-13T12:52:23.263Z,1628859143.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 308.630376 deg, deltaT: 4.378224 s, approachRate: -0.520760 m/s, LOS rate: 3.066895 deg/s, posRepo size: 4 2021-08-13T12:52:23.269Z,1628859143.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.379997 m, bearing: 308.630376 deg, approachRate: -0.520760 m/s, LOS rate: 3.066895 deg/s, cmd update: 9.200683 deg/s, cmd heading: 16.730229 deg, new cmd heading: 14.589153 deg. 2021-08-13T12:52:25.626Z,1628859145.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:26.029Z,1628859146.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:26.030Z,1628859146.030 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:26.030Z,1628859146.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:26.031Z,1628859146.031 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:26.413Z,1628859146.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB1,000,004AE,189,80,80,56,FF 2021-08-13T12:52:26.413Z,1628859146.413 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:26.414Z,1628859146.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:26.415Z,1628859146.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:26.813Z,1628859146.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:27.222Z,1628859147.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,0048C,185,80,80,82,FF 2021-08-13T12:52:27.222Z,1628859147.222 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:27.298Z,1628859147.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:27.662Z,1628859147.662 [Micromodem](INFO): Nmea in: $SNTTA,0.033958,,,,125227.94*48 2021-08-13T12:52:27.684Z,1628859147.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 302.274912 deg, deltaT: 4.496088 s, approachRate: -0.453727 m/s, LOS rate: -1.413554 deg/s, posRepo size: 4 2021-08-13T12:52:27.686Z,1628859147.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.340000 m, bearing: 302.274912 deg, approachRate: -0.453727 m/s, LOS rate: -1.413554 deg/s, cmd update: -4.240662 deg/s, cmd heading: 58.022960 deg, new cmd heading: 61.674380 deg. 2021-08-13T12:52:30.089Z,1628859150.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:30.457Z,1628859150.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:30.457Z,1628859150.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:30.457Z,1628859150.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:30.458Z,1628859150.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:30.857Z,1628859150.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB4,000,0048C,185,80,80,82,FF 2021-08-13T12:52:30.857Z,1628859150.857 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:30.857Z,1628859150.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:30.859Z,1628859150.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:31.268Z,1628859151.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:31.661Z,1628859151.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,00465,186,80,80,87,FF 2021-08-13T12:52:31.662Z,1628859151.662 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:31.687Z,1628859151.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:32.108Z,1628859152.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125232.38*50 2021-08-13T12:52:32.188Z,1628859152.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 302.200490 deg, deltaT: 4.389001 s, approachRate: -0.533151 m/s, LOS rate: -0.016956 deg/s, posRepo size: 4 2021-08-13T12:52:32.190Z,1628859152.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.000002 m, bearing: 302.200490 deg, approachRate: -0.533151 m/s, LOS rate: -0.016956 deg/s, cmd update: -0.050869 deg/s, cmd heading: 39.388812 deg, new cmd heading: 37.238325 deg. 2021-08-13T12:52:34.565Z,1628859154.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:34.901Z,1628859154.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:34.901Z,1628859154.901 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:34.902Z,1628859154.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:34.902Z,1628859154.902 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:35.308Z,1628859155.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 192,000,00465,186,80,80,87,FF 2021-08-13T12:52:35.309Z,1628859155.309 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:35.309Z,1628859155.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:35.310Z,1628859155.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:35.709Z,1628859155.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:36.137Z,1628859156.137 [Micromodem](INFO): Nmea in: $SNTTA,0.308811,0.308705,,,125236.83*5E 2021-08-13T12:52:37.372Z,1628859157.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:38.949Z,1628859158.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,186,80,80,87,FF 2021-08-13T12:52:38.950Z,1628859158.950 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,186,80,80,87,FF 2021-08-13T12:52:38.950Z,1628859158.950 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:52:40.242Z,1628859160.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:40.553Z,1628859160.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:40.553Z,1628859160.553 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:40.553Z,1628859160.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:40.554Z,1628859160.554 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:40.971Z,1628859160.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,186,80,80,87,FF 2021-08-13T12:52:40.971Z,1628859160.971 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:40.976Z,1628859160.976 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:40.984Z,1628859160.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:41.372Z,1628859161.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:41.769Z,1628859161.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0041B,189,80,80,7E,FF 2021-08-13T12:52:41.770Z,1628859161.770 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:41.790Z,1628859161.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:42.233Z,1628859162.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125242.51*58 2021-08-13T12:52:42.332Z,1628859162.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 303.282010 deg, deltaT: 10.102706 s, approachRate: -0.439486 m/s, LOS rate: 0.107052 deg/s, posRepo size: 4 2021-08-13T12:52:42.334Z,1628859162.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.560001 m, bearing: 303.282010 deg, approachRate: -0.439486 m/s, LOS rate: 0.107052 deg/s, cmd update: 0.321157 deg/s, cmd heading: 38.874744 deg, new cmd heading: 38.846992 deg. 2021-08-13T12:52:44.297Z,1628859164.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:44.593Z,1628859164.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:44.593Z,1628859164.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:44.593Z,1628859164.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:44.594Z,1628859164.594 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:45.033Z,1628859165.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0041B,189,80,80,7E,FF 2021-08-13T12:52:45.033Z,1628859165.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:45.033Z,1628859165.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:45.035Z,1628859165.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:45.404Z,1628859165.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:45.805Z,1628859165.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00416,189,80,80,67,FF 2021-08-13T12:52:45.806Z,1628859165.806 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:45.826Z,1628859165.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:46.233Z,1628859166.233 [Micromodem](INFO): Nmea in: $SNTTA,0.076066,0.485548,,,125246.56*5A 2021-08-13T12:52:46.403Z,1628859166.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 327.986039 deg, deltaT: 4.035906 s, approachRate: -0.074334 m/s, LOS rate: 6.121061 deg/s, posRepo size: 4 2021-08-13T12:52:46.405Z,1628859166.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.259996 m, bearing: 327.986039 deg, approachRate: -0.074334 m/s, LOS rate: 6.121061 deg/s, cmd update: 12.000000 deg/s, cmd heading: 40.170918 deg, new cmd heading: 40.357246 deg. 2021-08-13T12:52:48.650Z,1628859168.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:49.045Z,1628859169.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:49.045Z,1628859169.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:49.045Z,1628859169.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:49.046Z,1628859169.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:49.437Z,1628859169.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00416,189,80,80,67,FF 2021-08-13T12:52:49.437Z,1628859169.437 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:49.437Z,1628859169.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:49.439Z,1628859169.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:49.857Z,1628859169.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:50.245Z,1628859170.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00429,186,80,80,91,FF 2021-08-13T12:52:50.246Z,1628859170.246 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:50.353Z,1628859170.353 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:50.686Z,1628859170.686 [Micromodem](INFO): Nmea in: $SNTTA,0.059567,,,,125250.96*46 2021-08-13T12:52:50.703Z,1628859170.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 25.302451 deg, deltaT: 4.527182 s, approachRate: 0.251813 m/s, LOS rate: 12.660508 deg/s, posRepo size: 4 2021-08-13T12:52:50.703Z,1628859170.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.660508 deg/s. Setting heading cmd to target bearing of 25.302451deg and heading rate command to 0 deg/s. 2021-08-13T12:52:53.117Z,1628859173.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:53.477Z,1628859173.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:53.477Z,1628859173.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:53.477Z,1628859173.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:53.478Z,1628859173.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:53.889Z,1628859173.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 212,000,00429,186,80,80,91,FF 2021-08-13T12:52:53.890Z,1628859173.890 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:53.890Z,1628859173.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:53.893Z,1628859173.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:54.304Z,1628859174.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:54.694Z,1628859174.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00454,189,80,80,8F,FF 2021-08-13T12:52:54.694Z,1628859174.694 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:54.749Z,1628859174.749 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:55.134Z,1628859175.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125255.42*5C 2021-08-13T12:52:55.159Z,1628859175.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 40.103353 deg, deltaT: 4.396115 s, approachRate: 0.586882 m/s, LOS rate: 3.366814 deg/s, posRepo size: 4 2021-08-13T12:52:55.162Z,1628859175.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.979998 m, bearing: 40.103353 deg, approachRate: 0.586882 m/s, LOS rate: 3.366814 deg/s, cmd update: 10.100443 deg/s, cmd heading: 25.302451 deg, new cmd heading: 25.302451 deg. 2021-08-13T12:52:57.539Z,1628859177.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:52:57.934Z,1628859177.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:52:57.934Z,1628859177.934 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:52:57.935Z,1628859177.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:52:57.936Z,1628859177.936 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:52:58.333Z,1628859178.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 268,000,00454,189,80,80,8F,FF 2021-08-13T12:52:58.333Z,1628859178.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:52:58.334Z,1628859178.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:52:58.335Z,1628859178.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:52:58.740Z,1628859178.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:52:59.145Z,1628859179.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00489,187,80,80,61,FF 2021-08-13T12:52:59.145Z,1628859179.145 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:52:59.195Z,1628859179.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:52:59.574Z,1628859179.574 [Micromodem](INFO): Nmea in: $SNTTA,0.046105,,,,125259.86*40 2021-08-13T12:52:59.621Z,1628859179.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 93.922327 deg, deltaT: 4.446709 s, approachRate: 0.715137 m/s, LOS rate: 12.103102 deg/s, posRepo size: 4 2021-08-13T12:52:59.622Z,1628859179.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.103102 deg/s. Setting heading cmd to target bearing of 93.922327deg and heading rate command to 0 deg/s. 2021-08-13T12:53:02.041Z,1628859182.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:02.373Z,1628859182.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:02.373Z,1628859182.373 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:02.373Z,1628859182.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:02.374Z,1628859182.374 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:02.784Z,1628859182.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F1A,000,00489,187,80,80,61,FF 2021-08-13T12:53:02.785Z,1628859182.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:02.785Z,1628859182.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:02.786Z,1628859182.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:03.185Z,1628859183.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:03.577Z,1628859183.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,004B9,187,80,80,6E,FF 2021-08-13T12:53:03.578Z,1628859183.578 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:03.625Z,1628859183.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:53:04.029Z,1628859184.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125304.31*5D 2021-08-13T12:53:04.072Z,1628859184.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 77.545480 deg, deltaT: 4.429443 s, approachRate: 0.650194 m/s, LOS rate: -3.697270 deg/s, posRepo size: 4 2021-08-13T12:53:04.072Z,1628859184.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 35.04 m. Rolling out. 2021-08-13T12:53:04.073Z,1628859184.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T12:53:04.478Z,1628859184.478 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T12:53:04.478Z,1628859184.478 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:53:04.479Z,1628859184.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T12:53:04.479Z,1628859184.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T12:53:04.479Z,1628859184.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T12:53:04.479Z,1628859184.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T12:53:04.479Z,1628859184.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T12:53:06.469Z,1628859186.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:06.809Z,1628859186.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:06.809Z,1628859186.809 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:06.809Z,1628859186.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:06.810Z,1628859186.810 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:07.213Z,1628859187.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F71,000,004B9,187,80,80,6E,FF 2021-08-13T12:53:07.213Z,1628859187.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:07.213Z,1628859187.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:07.215Z,1628859187.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:07.629Z,1628859187.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:08.033Z,1628859188.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,004EA,186,80,80,82,FF 2021-08-13T12:53:08.033Z,1628859188.033 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:08.091Z,1628859188.091 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:53:08.457Z,1628859188.457 [Micromodem](INFO): Nmea in: $SNTTA,0.073437,0.355493,,,125308.74*59 2021-08-13T12:53:08.526Z,1628859188.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 89.937260 deg, deltaT: 4.466532 s, approachRate: 0.658229 m/s, LOS rate: 2.774363 deg/s, posRepo size: 4 2021-08-13T12:53:10.868Z,1628859190.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:11.257Z,1628859191.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:11.257Z,1628859191.257 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:11.257Z,1628859191.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:11.258Z,1628859191.258 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:11.657Z,1628859191.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EED,000,004EA,186,80,80,82,FF 2021-08-13T12:53:11.657Z,1628859191.657 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:11.657Z,1628859191.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:11.659Z,1628859191.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:12.069Z,1628859192.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:12.477Z,1628859192.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,0050D,186,80,80,51,FF 2021-08-13T12:53:12.477Z,1628859192.477 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:12.541Z,1628859192.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:53:12.914Z,1628859192.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125313.18*50 2021-08-13T12:53:12.981Z,1628859192.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 76.366904 deg, deltaT: 4.449062 s, approachRate: 0.472010 m/s, LOS rate: -3.050161 deg/s, posRepo size: 4 2021-08-13T12:53:13.321Z,1628859193.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T12:53:13.321Z,1628859193.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:53:13.321Z,1628859193.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T12:53:13.322Z,1628859193.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T12:53:13.322Z,1628859193.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T12:53:13.322Z,1628859193.322 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T12:53:13.701Z,1628859193.701 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T12:53:13.701Z,1628859193.701 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:53:13.702Z,1628859193.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T12:53:13.702Z,1628859193.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:53:15.325Z,1628859195.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:15.702Z,1628859195.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:15.702Z,1628859195.702 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:15.702Z,1628859195.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:15.703Z,1628859195.703 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:16.105Z,1628859196.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0D3,000,0050D,186,80,80,51,FF 2021-08-13T12:53:16.106Z,1628859196.106 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:16.106Z,1628859196.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:16.112Z,1628859196.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:16.520Z,1628859196.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:16.924Z,1628859196.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00528,186,80,80,56,FF 2021-08-13T12:53:16.925Z,1628859196.925 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:17.382Z,1628859197.382 [Micromodem](INFO): Nmea in: $SNTTA,0.059300,,,,125317.64*4E 2021-08-13T12:53:17.411Z,1628859197.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 115.109328 deg, deltaT: 4.447722 s, approachRate: 0.364231 m/s, LOS rate: 8.710622 deg/s, posRepo size: 4 2021-08-13T12:53:19.766Z,1628859199.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:20.185Z,1628859200.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:20.185Z,1628859200.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:20.185Z,1628859200.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:20.186Z,1628859200.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:20.553Z,1628859200.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E84,000,00528,186,80,80,56,FF 2021-08-13T12:53:20.553Z,1628859200.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:20.553Z,1628859200.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:20.555Z,1628859200.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:20.971Z,1628859200.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:21.354Z,1628859201.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00546,189,80,80,47,FF 2021-08-13T12:53:21.354Z,1628859201.354 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:21.837Z,1628859201.837 [Micromodem](INFO): Nmea in: $SNTTA,0.039155,,,,125322.08*46 2021-08-13T12:53:21.860Z,1628859201.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 129.118825 deg, deltaT: 4.555603 s, approachRate: 0.395118 m/s, LOS rate: 3.075223 deg/s, posRepo size: 4 2021-08-13T12:53:24.311Z,1628859204.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:24.645Z,1628859204.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:24.645Z,1628859204.645 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:24.645Z,1628859204.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:24.646Z,1628859204.646 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:25.049Z,1628859205.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DBC,000,00546,189,80,80,47,FF 2021-08-13T12:53:25.049Z,1628859205.049 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:25.049Z,1628859205.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:25.051Z,1628859205.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:25.481Z,1628859205.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:25.861Z,1628859205.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,0055B,187,80,80,7E,FF 2021-08-13T12:53:25.861Z,1628859205.861 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:26.289Z,1628859206.289 [Micromodem](INFO): Nmea in: $SNTTA,0.056274,0.479192,,,125326.57*5F 2021-08-13T12:53:26.347Z,1628859206.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 126.892019 deg, deltaT: 4.366926 s, approachRate: 0.288532 m/s, LOS rate: -0.509925 deg/s, posRepo size: 4 2021-08-13T12:53:28.718Z,1628859208.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:29.090Z,1628859209.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:29.090Z,1628859209.090 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:29.090Z,1628859209.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:29.091Z,1628859209.091 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:29.494Z,1628859209.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DFE,000,0055B,187,80,80,7E,FF 2021-08-13T12:53:29.495Z,1628859209.495 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:29.495Z,1628859209.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:29.497Z,1628859209.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:29.909Z,1628859209.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:30.305Z,1628859210.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,00573,18A,80,80,49,FF 2021-08-13T12:53:30.306Z,1628859210.306 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:30.309Z,1628859210.309 [Micromodem](INFO): Nmea in: $SNTTA,0.037187,0.253619,,,125331.02*5B 2021-08-13T12:53:30.732Z,1628859210.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 134.494389 deg, deltaT: 4.479657 s, approachRate: 0.321453 m/s, LOS rate: 1.697087 deg/s, posRepo size: 4 2021-08-13T12:53:33.167Z,1628859213.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:33.545Z,1628859213.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:33.545Z,1628859213.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:33.545Z,1628859213.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:33.546Z,1628859213.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:33.953Z,1628859213.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D6A,000,00573,18A,80,80,49,FF 2021-08-13T12:53:33.953Z,1628859213.953 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:33.954Z,1628859213.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:33.959Z,1628859213.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:34.359Z,1628859214.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:34.745Z,1628859214.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00582,186,80,80,8B,FF 2021-08-13T12:53:34.745Z,1628859214.745 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:35.173Z,1628859215.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125335.48*51 2021-08-13T12:53:35.211Z,1628859215.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 124.071083 deg, deltaT: 4.397683 s, approachRate: 0.204654 m/s, LOS rate: -2.370181 deg/s, posRepo size: 4 2021-08-13T12:53:37.609Z,1628859217.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:37.997Z,1628859217.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:37.997Z,1628859217.997 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:37.997Z,1628859217.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:37.998Z,1628859217.998 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:38.389Z,1628859218.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E39,000,00582,186,80,80,8B,FF 2021-08-13T12:53:38.389Z,1628859218.389 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:38.389Z,1628859218.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:38.391Z,1628859218.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:38.788Z,1628859218.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:39.189Z,1628859219.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,0059C,188,80,80,53,FF 2021-08-13T12:53:39.190Z,1628859219.190 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:39.633Z,1628859219.633 [Micromodem](INFO): Nmea in: $SNTTA,0.078586,,,,125339.91*43 2021-08-13T12:53:39.668Z,1628859219.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 132.271709 deg, deltaT: 4.430386 s, approachRate: 0.352113 m/s, LOS rate: 1.850996 deg/s, posRepo size: 4 2021-08-13T12:53:42.089Z,1628859222.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:42.425Z,1628859222.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:42.425Z,1628859222.425 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:42.426Z,1628859222.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:42.427Z,1628859222.427 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:42.825Z,1628859222.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D9C,000,0059C,188,80,80,53,FF 2021-08-13T12:53:42.825Z,1628859222.825 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:42.825Z,1628859222.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:42.827Z,1628859222.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:43.233Z,1628859223.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:43.637Z,1628859223.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C35,000,005AB,18B,80,80,24,FF 2021-08-13T12:53:43.638Z,1628859223.638 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:44.077Z,1628859224.077 [Micromodem](INFO): Nmea in: $SNTTA,0.048465,,,,125344.35*48 2021-08-13T12:53:44.174Z,1628859224.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 149.876589 deg, deltaT: 4.442985 s, approachRate: 0.202567 m/s, LOS rate: 3.962399 deg/s, posRepo size: 4 2021-08-13T12:53:46.163Z,1628859226.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:46.461Z,1628859226.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:46.461Z,1628859226.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:46.461Z,1628859226.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:46.462Z,1628859226.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:46.882Z,1628859226.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C35,000,005AB,18B,80,80,24,FF 2021-08-13T12:53:46.882Z,1628859226.882 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:46.882Z,1628859226.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:46.885Z,1628859226.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:47.276Z,1628859227.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:47.681Z,1628859227.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,005BC,186,80,80,28,FF 2021-08-13T12:53:47.682Z,1628859227.682 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:48.120Z,1628859228.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125348.41*52 2021-08-13T12:53:48.193Z,1628859228.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 82.059942 deg, deltaT: 4.038641 s, approachRate: 0.252560 m/s, LOS rate: -16.791948 deg/s, posRepo size: 4 2021-08-13T12:53:50.207Z,1628859230.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:50.517Z,1628859230.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:50.517Z,1628859230.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:50.517Z,1628859230.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:50.518Z,1628859230.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:50.927Z,1628859230.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 180,000,005BC,186,80,80,28,FF 2021-08-13T12:53:50.928Z,1628859230.928 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:50.928Z,1628859230.928 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:50.930Z,1628859230.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:51.345Z,1628859231.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:51.725Z,1628859231.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,005CB,186,80,80,35,FF 2021-08-13T12:53:51.726Z,1628859231.726 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:52.177Z,1628859232.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125352.45*5D 2021-08-13T12:53:52.246Z,1628859232.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 83.242685 deg, deltaT: 4.064387 s, approachRate: 0.221434 m/s, LOS rate: 0.291002 deg/s, posRepo size: 4 2021-08-13T12:53:54.268Z,1628859234.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:54.545Z,1628859234.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:54.545Z,1628859234.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:54.545Z,1628859234.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:54.546Z,1628859234.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:54.986Z,1628859234.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 167,000,005CB,186,80,80,35,FF 2021-08-13T12:53:54.986Z,1628859234.986 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:54.986Z,1628859234.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:54.988Z,1628859234.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:55.365Z,1628859235.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:53:55.781Z,1628859235.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,005D9,186,80,80,6B,FF 2021-08-13T12:53:55.781Z,1628859235.781 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:53:56.222Z,1628859236.222 [Micromodem](INFO): Nmea in: $SNTTA,0.051967,0.468691,,,125356.51*54 2021-08-13T12:53:56.279Z,1628859236.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 81.597285 deg, deltaT: 4.034935 s, approachRate: 0.208182 m/s, LOS rate: -0.407788 deg/s, posRepo size: 4 2021-08-13T12:53:58.630Z,1628859238.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:53:59.030Z,1628859239.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:53:59.030Z,1628859239.030 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:53:59.030Z,1628859239.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:53:59.031Z,1628859239.031 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:53:59.429Z,1628859239.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 188,000,005D9,186,80,80,6B,FF 2021-08-13T12:53:59.429Z,1628859239.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:53:59.429Z,1628859239.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:53:59.431Z,1628859239.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:53:59.835Z,1628859239.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:00.257Z,1628859240.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,005ED,186,80,80,5C,FF 2021-08-13T12:54:00.257Z,1628859240.257 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:00.261Z,1628859240.261 [Micromodem](INFO): Nmea in: $SNTTA,0.286733,0.286308,,,125400.95*5C 2021-08-13T12:54:00.696Z,1628859240.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 82.630263 deg, deltaT: 4.557834 s, approachRate: 0.263282 m/s, LOS rate: 0.226638 deg/s, posRepo size: 4 2021-08-13T12:54:03.122Z,1628859243.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:03.465Z,1628859243.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:03.466Z,1628859243.466 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:03.466Z,1628859243.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:03.467Z,1628859243.467 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:03.862Z,1628859243.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 173,000,005ED,186,80,80,5C,FF 2021-08-13T12:54:03.862Z,1628859243.862 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:03.862Z,1628859243.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:03.866Z,1628859243.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:04.274Z,1628859244.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:04.682Z,1628859244.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25F,000,005F8,188,80,80,9B,FF 2021-08-13T12:54:04.683Z,1628859244.683 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:05.114Z,1628859245.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125405.39*53 2021-08-13T12:54:05.140Z,1628859245.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.179996 m, bearing: 71.078794 deg, deltaT: 4.388834 s, approachRate: 0.150382 m/s, LOS rate: -2.632013 deg/s, posRepo size: 4 2021-08-13T12:54:07.535Z,1628859247.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:07.905Z,1628859247.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:07.905Z,1628859247.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:07.906Z,1628859247.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:07.906Z,1628859247.907 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:08.311Z,1628859248.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 25F,000,005F8,188,80,80,9B,FF 2021-08-13T12:54:08.311Z,1628859248.311 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:08.311Z,1628859248.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:08.313Z,1628859248.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:08.774Z,1628859248.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:09.165Z,1628859249.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00609,186,80,80,4A,FF 2021-08-13T12:54:09.166Z,1628859249.166 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:09.593Z,1628859249.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125409.84*59 2021-08-13T12:54:09.649Z,1628859249.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 80.144477 deg, deltaT: 4.524328 s, approachRate: 0.225448 m/s, LOS rate: 2.003763 deg/s, posRepo size: 4 2021-08-13T12:54:12.149Z,1628859252.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:12.413Z,1628859252.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:12.413Z,1628859252.413 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:12.413Z,1628859252.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:12.414Z,1628859252.414 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:12.801Z,1628859252.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1AC,000,00609,186,80,80,4A,FF 2021-08-13T12:54:12.802Z,1628859252.802 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:12.802Z,1628859252.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:12.803Z,1628859252.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:13.209Z,1628859253.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:13.617Z,1628859253.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00619,186,80,80,4E,FF 2021-08-13T12:54:13.617Z,1628859253.617 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:14.045Z,1628859254.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125414.33*59 2021-08-13T12:54:14.085Z,1628859254.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.160004 m, bearing: 92.036676 deg, deltaT: 4.428237 s, approachRate: 0.216792 m/s, LOS rate: 2.685538 deg/s, posRepo size: 4 2021-08-13T12:54:16.489Z,1628859256.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:16.845Z,1628859256.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:16.845Z,1628859256.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:16.845Z,1628859256.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:16.846Z,1628859256.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:17.245Z,1628859257.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0BF,000,00619,186,80,80,4E,FF 2021-08-13T12:54:17.245Z,1628859257.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:17.245Z,1628859257.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:17.247Z,1628859257.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:17.661Z,1628859257.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:18.049Z,1628859258.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00626,187,80,80,34,FF 2021-08-13T12:54:18.050Z,1628859258.050 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:18.481Z,1628859258.481 [Micromodem](INFO): Nmea in: $SNTTA,0.045974,0.338077,,,125418.77*56 2021-08-13T12:54:18.550Z,1628859258.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 96.435707 deg, deltaT: 4.477345 s, approachRate: 0.174209 m/s, LOS rate: 0.982509 deg/s, posRepo size: 4 2021-08-13T12:54:20.911Z,1628859260.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:21.285Z,1628859261.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:21.285Z,1628859261.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:21.285Z,1628859261.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:21.286Z,1628859261.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:21.693Z,1628859261.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 065,000,00626,187,80,80,34,FF 2021-08-13T12:54:21.693Z,1628859261.693 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:21.693Z,1628859261.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:21.695Z,1628859261.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:22.112Z,1628859262.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:22.497Z,1628859262.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,00634,186,80,80,66,FF 2021-08-13T12:54:22.497Z,1628859262.497 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:22.937Z,1628859262.937 [Micromodem](INFO): Nmea in: $SNTTA,0.155649,,,,125423.22*49 2021-08-13T12:54:22.997Z,1628859262.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 95.353798 deg, deltaT: 4.397437 s, approachRate: 0.191021 m/s, LOS rate: -0.246032 deg/s, posRepo size: 4 2021-08-13T12:54:25.353Z,1628859265.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:25.745Z,1628859265.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:25.745Z,1628859265.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:25.745Z,1628859265.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:25.746Z,1628859265.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:26.169Z,1628859266.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 076,000,00634,186,80,80,66,FF 2021-08-13T12:54:26.170Z,1628859266.170 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:26.170Z,1628859266.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:26.171Z,1628859266.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:26.546Z,1628859266.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:26.961Z,1628859266.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00640,183,80,80,5F,FF 2021-08-13T12:54:26.962Z,1628859266.962 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:27.393Z,1628859267.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125427.70*5E 2021-08-13T12:54:27.409Z,1628859267.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 101.279486 deg, deltaT: 4.470036 s, approachRate: 0.161074 m/s, LOS rate: 1.325647 deg/s, posRepo size: 4 2021-08-13T12:54:29.802Z,1628859269.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:30.197Z,1628859270.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:30.197Z,1628859270.197 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:30.197Z,1628859270.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:30.198Z,1628859270.198 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:30.577Z,1628859270.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 004,000,00640,183,80,80,5F,FF 2021-08-13T12:54:30.577Z,1628859270.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:30.577Z,1628859270.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:30.579Z,1628859270.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:31.020Z,1628859271.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:31.818Z,1628859271.818 [Micromodem](INFO): Nmea in: $SNTTA,0.046800,,,,125432.11*49 2021-08-13T12:54:32.614Z,1628859272.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:34.213Z,1628859274.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 0,183,80,80,5F,FF 2021-08-13T12:54:34.213Z,1628859274.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 0,183,80,80,5F,FF 2021-08-13T12:54:34.213Z,1628859274.213 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:54:35.457Z,1628859275.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:35.829Z,1628859275.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:35.829Z,1628859275.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:35.829Z,1628859275.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:35.830Z,1628859275.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:36.241Z,1628859276.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 0,183,80,80,5F,FF 2021-08-13T12:54:36.241Z,1628859276.241 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:36.241Z,1628859276.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:36.243Z,1628859276.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:36.653Z,1628859276.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:37.041Z,1628859277.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00658,189,80,80,6C,FF 2021-08-13T12:54:37.041Z,1628859277.041 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:37.482Z,1628859277.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125437.77*58 2021-08-13T12:54:37.497Z,1628859277.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 68.372290 deg, deltaT: 10.059935 s, approachRate: 0.143142 m/s, LOS rate: -3.271114 deg/s, posRepo size: 4 2021-08-13T12:54:39.945Z,1628859279.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:40.273Z,1628859280.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:40.273Z,1628859280.273 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:40.273Z,1628859280.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:40.274Z,1628859280.274 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:40.681Z,1628859280.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 29B,000,00658,189,80,80,6C,FF 2021-08-13T12:54:40.682Z,1628859280.682 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:40.682Z,1628859280.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:40.683Z,1628859280.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:41.093Z,1628859281.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:41.497Z,1628859281.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,00663,186,80,80,A0,FF 2021-08-13T12:54:41.497Z,1628859281.497 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:41.933Z,1628859281.933 [Micromodem](INFO): Nmea in: $SNTTA,0.057272,,,,125442.21*42 2021-08-13T12:54:42.011Z,1628859282.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 77.389916 deg, deltaT: 4.432751 s, approachRate: 0.148890 m/s, LOS rate: 2.034318 deg/s, posRepo size: 4 2021-08-13T12:54:44.392Z,1628859284.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:44.721Z,1628859284.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:44.721Z,1628859284.721 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:44.721Z,1628859284.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:44.722Z,1628859284.722 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:45.121Z,1628859285.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1E9,000,00663,186,80,80,A0,FF 2021-08-13T12:54:45.121Z,1628859285.121 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:45.121Z,1628859285.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:45.123Z,1628859285.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:45.528Z,1628859285.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:45.937Z,1628859285.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00674,186,80,80,88,FF 2021-08-13T12:54:45.937Z,1628859285.937 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:46.345Z,1628859286.345 [Micromodem](INFO): Nmea in: $SNTTA,0.050487,0.441588,,,125446.65*57 2021-08-13T12:54:46.417Z,1628859286.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.619995 m, bearing: 96.696402 deg, deltaT: 4.474874 s, approachRate: 0.227939 m/s, LOS rate: 4.314420 deg/s, posRepo size: 4 2021-08-13T12:54:48.804Z,1628859288.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:49.161Z,1628859289.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:49.161Z,1628859289.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:49.161Z,1628859289.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:49.162Z,1628859289.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:49.565Z,1628859289.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 068,000,00674,186,80,80,88,FF 2021-08-13T12:54:49.565Z,1628859289.565 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:49.565Z,1628859289.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:49.567Z,1628859289.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:49.998Z,1628859289.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:50.377Z,1628859290.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00682,183,80,80,A4,FF 2021-08-13T12:54:50.377Z,1628859290.378 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:50.381Z,1628859290.381 [Micromodem](INFO): Nmea in: $SNTTA,0.048278,0.220254,,,125451.09*53 2021-08-13T12:54:50.842Z,1628859290.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 101.654368 deg, deltaT: 4.456585 s, approachRate: 0.188486 m/s, LOS rate: 1.112503 deg/s, posRepo size: 4 2021-08-13T12:54:53.248Z,1628859293.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:53.617Z,1628859293.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:53.617Z,1628859293.617 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:53.617Z,1628859293.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:53.618Z,1628859293.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:54.033Z,1628859294.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 008,000,00682,183,80,80,A4,FF 2021-08-13T12:54:54.033Z,1628859294.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:54.033Z,1628859294.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:54.035Z,1628859294.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:54.429Z,1628859294.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:54.817Z,1628859294.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00691,187,80,80,1E,FF 2021-08-13T12:54:54.817Z,1628859294.817 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:55.265Z,1628859295.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125455.56*5F 2021-08-13T12:54:55.320Z,1628859295.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 118.838215 deg, deltaT: 4.402888 s, approachRate: 0.204412 m/s, LOS rate: 3.902858 deg/s, posRepo size: 4 2021-08-13T12:54:57.684Z,1628859297.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:54:58.057Z,1628859298.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:54:58.057Z,1628859298.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:54:58.057Z,1628859298.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:54:58.058Z,1628859298.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:54:58.465Z,1628859298.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EAB,000,00691,187,80,80,1E,FF 2021-08-13T12:54:58.465Z,1628859298.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:54:58.465Z,1628859298.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:54:58.467Z,1628859298.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:54:58.865Z,1628859298.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:54:59.270Z,1628859299.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,0069B,184,80,80,90,FF 2021-08-13T12:54:59.271Z,1628859299.271 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:54:59.701Z,1628859299.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125459.99*50 2021-08-13T12:54:59.734Z,1628859299.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 103.865935 deg, deltaT: 4.458704 s, approachRate: 0.134568 m/s, LOS rate: -3.357989 deg/s, posRepo size: 4 2021-08-13T12:55:02.185Z,1628859302.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:02.501Z,1628859302.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:02.501Z,1628859302.501 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:02.502Z,1628859302.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:02.503Z,1628859302.503 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:02.913Z,1628859302.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD6,000,0069B,184,80,80,90,FF 2021-08-13T12:55:02.913Z,1628859302.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:02.913Z,1628859302.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:02.915Z,1628859302.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:03.311Z,1628859303.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:03.713Z,1628859303.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,006A2,187,80,80,7D,FF 2021-08-13T12:55:03.714Z,1628859303.714 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:04.162Z,1628859304.162 [Micromodem](INFO): Nmea in: $SNTTA,0.099694,,,,125504.44*4C 2021-08-13T12:55:04.238Z,1628859304.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 117.021522 deg, deltaT: 4.443715 s, approachRate: 0.094517 m/s, LOS rate: 2.960493 deg/s, posRepo size: 4 2021-08-13T12:55:06.589Z,1628859306.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:06.960Z,1628859306.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:06.961Z,1628859306.961 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:06.962Z,1628859306.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:06.963Z,1628859306.963 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:07.345Z,1628859307.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED1,000,006A2,187,80,80,7D,FF 2021-08-13T12:55:07.345Z,1628859307.345 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:07.345Z,1628859307.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:07.347Z,1628859307.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:07.753Z,1628859307.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:08.205Z,1628859308.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,006B6,186,80,80,55,FF 2021-08-13T12:55:08.206Z,1628859308.206 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:08.593Z,1628859308.593 [Micromodem](INFO): Nmea in: $SNTTA,0.083611,,,,125508.87*49 2021-08-13T12:55:08.633Z,1628859308.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.580002 m, bearing: 108.714209 deg, deltaT: 4.527321 s, approachRate: 0.265057 m/s, LOS rate: -1.834929 deg/s, posRepo size: 4 2021-08-13T12:55:11.040Z,1628859311.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:11.393Z,1628859311.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:11.393Z,1628859311.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:11.393Z,1628859311.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:11.394Z,1628859311.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:11.795Z,1628859311.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F80,000,006B6,186,80,80,55,FF 2021-08-13T12:55:11.795Z,1628859311.795 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:11.795Z,1628859311.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:11.797Z,1628859311.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:12.217Z,1628859312.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:13.034Z,1628859313.034 [Micromodem](INFO): Nmea in: $SNTTA,,0.064487,,,125513.32*49 2021-08-13T12:55:13.817Z,1628859313.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,03901,187,80,80,74,FF 2021-08-13T12:55:13.817Z,1628859313.817 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:14.291Z,1628859314.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 838.080078 m, bearing: 108.586826 deg, deltaT: 5.535747 s, approachRate: 139.547577 m/s, LOS rate: -0.023011 deg/s, posRepo size: 4 2021-08-13T12:55:14.291Z,1628859314.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 838.08 m. Resuming terminal guidance. 2021-08-13T12:55:14.292Z,1628859314.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T12:55:14.664Z,1628859314.664 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T12:55:14.665Z,1628859314.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:55:14.665Z,1628859314.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T12:55:14.665Z,1628859314.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T12:55:14.665Z,1628859314.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T12:55:14.665Z,1628859314.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T12:55:14.665Z,1628859314.665 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T12:55:16.288Z,1628859316.288 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T12:55:16.341Z,1628859316.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:16.653Z,1628859316.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:16.653Z,1628859316.653 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:16.653Z,1628859316.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:16.654Z,1628859316.654 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:17.053Z,1628859317.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8E,000,03901,187,80,80,74,FF 2021-08-13T12:55:17.053Z,1628859317.053 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:17.053Z,1628859317.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:17.055Z,1628859317.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:17.480Z,1628859317.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:17.861Z,1628859317.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,006C9,186,80,80,66,FF 2021-08-13T12:55:17.862Z,1628859317.862 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:18.309Z,1628859318.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125518.58*59 2021-08-13T12:55:18.379Z,1628859318.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 111.602750 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T12:55:18.384Z,1628859318.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 111.602750deg and heading rate command to 0 deg/s. 2021-08-13T12:55:20.715Z,1628859320.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:21.093Z,1628859321.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:21.093Z,1628859321.093 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:21.093Z,1628859321.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:21.094Z,1628859321.094 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:21.505Z,1628859321.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4A,000,006C9,186,80,80,66,FF 2021-08-13T12:55:21.505Z,1628859321.505 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:21.505Z,1628859321.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:21.507Z,1628859321.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:21.922Z,1628859321.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:22.317Z,1628859322.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFE,000,006E0,185,80,80,74,FF 2021-08-13T12:55:22.317Z,1628859322.317 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:22.745Z,1628859322.745 [Micromodem](INFO): Nmea in: $SNTTA,,0.158490,,,125523.03*40 2021-08-13T12:55:22.781Z,1628859322.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 115.147905 deg, deltaT: 4.529764 s, approachRate: 0.304649 m/s, LOS rate: 0.782636 deg/s, posRepo size: 2 2021-08-13T12:55:22.783Z,1628859322.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.099998 m, bearing: 115.147905 deg, approachRate: 0.304649 m/s, LOS rate: 0.782636 deg/s, cmd update: 2.347907 deg/s, cmd heading: 111.602750 deg, new cmd heading: 111.602750 deg. 2021-08-13T12:55:25.180Z,1628859325.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:25.541Z,1628859325.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:25.541Z,1628859325.541 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:25.541Z,1628859325.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:25.542Z,1628859325.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:25.945Z,1628859325.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFE,000,006E0,185,80,80,74,FF 2021-08-13T12:55:25.945Z,1628859325.945 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:25.946Z,1628859325.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:25.953Z,1628859325.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:26.438Z,1628859326.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:26.821Z,1628859326.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00703,186,80,80,9A,FF 2021-08-13T12:55:26.822Z,1628859326.822 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:27.237Z,1628859327.237 [Micromodem](INFO): Nmea in: $SNTTA,0.054176,,,,125527.48*4B 2021-08-13T12:55:27.263Z,1628859327.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 123.920245 deg, deltaT: 4.469632 s, approachRate: 0.469839 m/s, LOS rate: 1.962654 deg/s, posRepo size: 3 2021-08-13T12:55:27.293Z,1628859327.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.200005 m, bearing: 123.920245 deg, approachRate: 0.469839 m/s, LOS rate: 1.962654 deg/s, cmd update: 5.887961 deg/s, cmd heading: 122.134873 deg, new cmd heading: 123.010374 deg. 2021-08-13T12:55:29.683Z,1628859329.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:30.053Z,1628859330.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:30.053Z,1628859330.053 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:30.053Z,1628859330.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:30.054Z,1628859330.054 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:30.457Z,1628859330.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0F,000,00703,186,80,80,9A,FF 2021-08-13T12:55:30.457Z,1628859330.457 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:30.457Z,1628859330.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:30.459Z,1628859330.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:30.866Z,1628859330.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:31.265Z,1628859331.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00731,187,80,80,6D,FF 2021-08-13T12:55:31.265Z,1628859331.265 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:31.710Z,1628859331.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125531.98*5E 2021-08-13T12:55:31.732Z,1628859331.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.959999 m, bearing: 150.735745 deg, deltaT: 4.377257 s, approachRate: 0.630531 m/s, LOS rate: 6.126097 deg/s, posRepo size: 4 2021-08-13T12:55:31.735Z,1628859331.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.959999 m, bearing: 150.735745 deg, approachRate: 0.630531 m/s, LOS rate: 6.126097 deg/s, cmd update: 12.000000 deg/s, cmd heading: 148.055503 deg, new cmd heading: 150.644993 deg. 2021-08-13T12:55:34.188Z,1628859334.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:34.509Z,1628859334.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:34.509Z,1628859334.509 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:34.509Z,1628859334.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:34.510Z,1628859334.510 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:34.927Z,1628859334.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E01,000,00731,187,80,80,6D,FF 2021-08-13T12:55:34.927Z,1628859334.927 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:34.927Z,1628859334.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:34.929Z,1628859334.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:35.336Z,1628859335.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:35.733Z,1628859335.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,0074F,186,80,80,99,FF 2021-08-13T12:55:35.734Z,1628859335.734 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:36.202Z,1628859336.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125536.46*5A 2021-08-13T12:55:36.275Z,1628859336.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 161.357386 deg, deltaT: 4.457687 s, approachRate: 0.403798 m/s, LOS rate: 2.382770 deg/s, posRepo size: 4 2021-08-13T12:55:36.282Z,1628859336.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.760002 m, bearing: 161.357386 deg, approachRate: 0.403798 m/s, LOS rate: 2.382770 deg/s, cmd update: 7.148309 deg/s, cmd heading: 201.549573 deg, new cmd heading: 207.851565 deg. 2021-08-13T12:55:38.307Z,1628859338.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:38.617Z,1628859338.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:38.617Z,1628859338.617 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:38.617Z,1628859338.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:38.618Z,1628859338.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:39.029Z,1628859339.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7A,000,0074F,186,80,80,99,FF 2021-08-13T12:55:39.029Z,1628859339.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:39.029Z,1628859339.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:39.031Z,1628859339.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:39.420Z,1628859339.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:39.818Z,1628859339.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,00768,186,80,80,94,FF 2021-08-13T12:55:39.818Z,1628859339.818 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:40.257Z,1628859340.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125540.55*59 2021-08-13T12:55:40.311Z,1628859340.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 139.379135 deg, deltaT: 4.089481 s, approachRate: 0.366793 m/s, LOS rate: -5.374337 deg/s, posRepo size: 4 2021-08-13T12:55:40.313Z,1628859340.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.259995 m, bearing: 139.379135 deg, approachRate: 0.366793 m/s, LOS rate: -5.374337 deg/s, cmd update: -12.000000 deg/s, cmd heading: 230.781601 deg, new cmd heading: 234.151264 deg. 2021-08-13T12:55:42.686Z,1628859342.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:43.053Z,1628859343.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:43.054Z,1628859343.054 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:43.054Z,1628859343.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:43.055Z,1628859343.055 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:43.460Z,1628859343.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 192,000,00768,186,80,80,94,FF 2021-08-13T12:55:43.460Z,1628859343.460 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:43.461Z,1628859343.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:43.462Z,1628859343.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:43.879Z,1628859343.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:44.281Z,1628859344.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D82,000,00773,188,80,80,B5,FF 2021-08-13T12:55:44.281Z,1628859344.281 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:44.709Z,1628859344.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125544.99*5D 2021-08-13T12:55:44.761Z,1628859344.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.919998 m, bearing: 210.004616 deg, deltaT: 4.514903 s, approachRate: 0.146183 m/s, LOS rate: 15.642747 deg/s, posRepo size: 4 2021-08-13T12:55:44.761Z,1628859344.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.642747 deg/s. Setting heading cmd to target bearing of 210.004616deg and heading rate command to 0 deg/s. 2021-08-13T12:55:47.146Z,1628859347.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:47.505Z,1628859347.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:47.505Z,1628859347.505 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:47.505Z,1628859347.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:47.506Z,1628859347.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:47.905Z,1628859347.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D82,000,00773,188,80,80,B5,FF 2021-08-13T12:55:47.905Z,1628859347.905 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:47.905Z,1628859347.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:47.907Z,1628859347.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:48.316Z,1628859348.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:48.709Z,1628859348.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0076E,189,80,80,8F,FF 2021-08-13T12:55:48.710Z,1628859348.710 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:49.165Z,1628859349.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125549.43*57 2021-08-13T12:55:49.209Z,1628859349.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 260.189554 deg, deltaT: 4.428583 s, approachRate: -0.067741 m/s, LOS rate: 11.332053 deg/s, posRepo size: 4 2021-08-13T12:55:49.211Z,1628859349.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.620003 m, bearing: 260.189554 deg, approachRate: -0.067741 m/s, LOS rate: 11.332053 deg/s, cmd update: 12.000000 deg/s, cmd heading: 210.004616 deg, new cmd heading: 210.004616 deg. 2021-08-13T12:55:51.551Z,1628859351.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:51.964Z,1628859351.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:51.964Z,1628859351.964 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:51.965Z,1628859351.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:51.966Z,1628859351.966 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:52.349Z,1628859352.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,0076E,189,80,80,8F,FF 2021-08-13T12:55:52.349Z,1628859352.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:52.349Z,1628859352.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:52.351Z,1628859352.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:52.757Z,1628859352.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:53.157Z,1628859353.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8C,000,0075C,189,80,80,A9,FF 2021-08-13T12:55:53.157Z,1628859353.157 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:53.589Z,1628859353.589 [Micromodem](INFO): Nmea in: $SNTTA,0.071803,,,,125553.87*47 2021-08-13T12:55:53.639Z,1628859353.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.540001 m, bearing: 260.374078 deg, deltaT: 4.401754 s, approachRate: -0.245357 m/s, LOS rate: 0.041921 deg/s, posRepo size: 4 2021-08-13T12:55:53.642Z,1628859353.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.540001 m, bearing: 260.374078 deg, approachRate: -0.245357 m/s, LOS rate: 0.041921 deg/s, cmd update: 0.125762 deg/s, cmd heading: 262.870450 deg, new cmd heading: 268.326934 deg. 2021-08-13T12:55:56.042Z,1628859356.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:55:56.381Z,1628859356.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:55:56.381Z,1628859356.381 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:55:56.381Z,1628859356.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:55:56.382Z,1628859356.382 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:55:56.797Z,1628859356.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C8C,000,0075C,189,80,80,A9,FF 2021-08-13T12:55:56.797Z,1628859356.797 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:55:56.797Z,1628859356.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:55:56.799Z,1628859356.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:55:57.205Z,1628859357.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:55:57.601Z,1628859357.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,00743,187,80,80,7C,FF 2021-08-13T12:55:57.601Z,1628859357.601 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:55:58.080Z,1628859358.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125558.33*50 2021-08-13T12:55:58.194Z,1628859358.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.040001 m, bearing: 208.444328 deg, deltaT: 4.433170 s, approachRate: -0.338358 m/s, LOS rate: -11.713909 deg/s, posRepo size: 4 2021-08-13T12:55:58.195Z,1628859358.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.713909 deg/s. Setting heading cmd to target bearing of 208.444328deg and heading rate command to 0 deg/s. 2021-08-13T12:56:00.467Z,1628859360.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:00.829Z,1628859360.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:00.829Z,1628859360.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:00.829Z,1628859360.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:00.830Z,1628859360.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:01.229Z,1628859361.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 215,000,00743,187,80,80,7C,FF 2021-08-13T12:56:01.230Z,1628859361.230 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:01.230Z,1628859361.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:01.231Z,1628859361.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:01.645Z,1628859361.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:02.045Z,1628859362.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,0071F,187,80,80,A0,FF 2021-08-13T12:56:02.046Z,1628859362.046 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:02.489Z,1628859362.489 [Micromodem](INFO): Nmea in: $SNTTA,0.054009,,,,125602.75*48 2021-08-13T12:56:02.551Z,1628859362.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.880005 m, bearing: 266.226676 deg, deltaT: 4.540567 s, approachRate: -0.475711 m/s, LOS rate: 12.725800 deg/s, posRepo size: 4 2021-08-13T12:56:02.556Z,1628859362.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.725800 deg/s. Setting heading cmd to target bearing of 266.226676deg and heading rate command to 0 deg/s. 2021-08-13T12:56:04.969Z,1628859364.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:05.301Z,1628859365.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:05.301Z,1628859365.301 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:05.301Z,1628859365.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:05.301Z,1628859365.301 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:05.709Z,1628859365.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F02,000,0071F,187,80,80,A0,FF 2021-08-13T12:56:05.709Z,1628859365.709 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:05.709Z,1628859365.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:05.711Z,1628859365.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:06.117Z,1628859366.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:06.489Z,1628859366.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,006F8,186,80,80,A6,FF 2021-08-13T12:56:06.490Z,1628859366.490 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:06.911Z,1628859366.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125607.24*5F 2021-08-13T12:56:06.994Z,1628859366.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 265.887844 deg, deltaT: 4.378624 s, approachRate: -0.534415 m/s, LOS rate: -0.077383 deg/s, posRepo size: 4 2021-08-13T12:56:07.000Z,1628859367.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.540001 m, bearing: 265.887844 deg, approachRate: -0.534415 m/s, LOS rate: -0.077383 deg/s, cmd update: -0.232150 deg/s, cmd heading: 266.226676 deg, new cmd heading: 266.226676 deg. 2021-08-13T12:56:09.386Z,1628859369.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:09.717Z,1628859369.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:09.718Z,1628859369.718 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:09.718Z,1628859369.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:09.719Z,1628859369.719 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:10.175Z,1628859370.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED4,000,006F8,186,80,80,A6,FF 2021-08-13T12:56:10.175Z,1628859370.175 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:10.175Z,1628859370.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:10.177Z,1628859370.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:10.548Z,1628859370.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:10.977Z,1628859370.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,006CF,189,80,80,70,FF 2021-08-13T12:56:10.978Z,1628859370.978 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:11.381Z,1628859371.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125611.70*59 2021-08-13T12:56:11.411Z,1628859371.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 211.730059 deg, deltaT: 4.511893 s, approachRate: -0.545226 m/s, LOS rate: -12.003340 deg/s, posRepo size: 4 2021-08-13T12:56:11.412Z,1628859371.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.003340 deg/s. Setting heading cmd to target bearing of 211.730059deg and heading rate command to 0 deg/s. 2021-08-13T12:56:13.795Z,1628859373.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:14.209Z,1628859374.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:14.209Z,1628859374.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:14.209Z,1628859374.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:14.210Z,1628859374.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:14.589Z,1628859374.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 248,000,006CF,189,80,80,70,FF 2021-08-13T12:56:14.589Z,1628859374.589 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:14.589Z,1628859374.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:14.591Z,1628859374.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:15.030Z,1628859375.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:15.393Z,1628859375.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,006A9,186,80,80,B9,FF 2021-08-13T12:56:15.393Z,1628859375.393 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:15.839Z,1628859375.839 [Micromodem](INFO): Nmea in: $SNTTA,0.051195,,,,125616.12*4D 2021-08-13T12:56:15.878Z,1628859375.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 266.231403 deg, deltaT: 4.360954 s, approachRate: -0.522821 m/s, LOS rate: 12.497574 deg/s, posRepo size: 4 2021-08-13T12:56:15.879Z,1628859375.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.497574 deg/s. Setting heading cmd to target bearing of 266.231403deg and heading rate command to 0 deg/s. 2021-08-13T12:56:17.944Z,1628859377.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:18.361Z,1628859378.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:18.361Z,1628859378.361 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:18.361Z,1628859378.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:18.362Z,1628859378.362 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:18.673Z,1628859378.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFA,000,006A9,186,80,80,B9,FF 2021-08-13T12:56:18.673Z,1628859378.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:18.674Z,1628859378.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:18.675Z,1628859378.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:19.074Z,1628859379.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:19.445Z,1628859379.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00685,186,80,80,A2,FF 2021-08-13T12:56:19.446Z,1628859379.446 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:19.860Z,1628859379.860 [Micromodem](INFO): Nmea in: $SNTTA,0.058710,,,,125620.20*4B 2021-08-13T12:56:19.927Z,1628859379.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.640007 m, bearing: 266.023246 deg, deltaT: 4.087791 s, approachRate: -0.528402 m/s, LOS rate: -0.050922 deg/s, posRepo size: 4 2021-08-13T12:56:19.933Z,1628859379.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.640007 m, bearing: 266.023246 deg, approachRate: -0.528402 m/s, LOS rate: -0.050922 deg/s, cmd update: -0.152765 deg/s, cmd heading: 266.231403 deg, new cmd heading: 266.231403 deg. 2021-08-13T12:56:22.358Z,1628859382.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:22.669Z,1628859382.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:22.669Z,1628859382.669 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:22.669Z,1628859382.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:22.670Z,1628859382.670 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:23.081Z,1628859383.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFD,000,00685,186,80,80,A2,FF 2021-08-13T12:56:23.082Z,1628859383.082 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:23.083Z,1628859383.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:23.086Z,1628859383.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:23.487Z,1628859383.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:23.882Z,1628859383.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,0065C,18A,80,80,A5,FF 2021-08-13T12:56:23.883Z,1628859383.883 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:24.309Z,1628859384.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125624.61*5F 2021-08-13T12:56:24.367Z,1628859384.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 272.769888 deg, deltaT: 4.480472 s, approachRate: -0.549052 m/s, LOS rate: 1.505788 deg/s, posRepo size: 4 2021-08-13T12:56:24.370Z,1628859384.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.179996 m, bearing: 272.769888 deg, approachRate: -0.549052 m/s, LOS rate: 1.505788 deg/s, cmd update: 4.517365 deg/s, cmd heading: 265.551482 deg, new cmd heading: 265.486935 deg. 2021-08-13T12:56:26.719Z,1628859386.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:27.117Z,1628859387.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:27.118Z,1628859387.118 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:27.118Z,1628859387.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:27.119Z,1628859387.119 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:27.541Z,1628859387.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D80,000,0065C,18A,80,80,A5,FF 2021-08-13T12:56:27.541Z,1628859387.541 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:27.541Z,1628859387.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:27.543Z,1628859387.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:27.951Z,1628859387.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:28.333Z,1628859388.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00635,186,80,80,82,FF 2021-08-13T12:56:28.333Z,1628859388.333 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:28.752Z,1628859388.752 [Micromodem](INFO): Nmea in: $SNTTA,0.049268,,,,125629.07*4D 2021-08-13T12:56:28.782Z,1628859388.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 268.714149 deg, deltaT: 4.409668 s, approachRate: -0.530650 m/s, LOS rate: -0.919738 deg/s, posRepo size: 4 2021-08-13T12:56:28.786Z,1628859388.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.840004 m, bearing: 268.714149 deg, approachRate: -0.530650 m/s, LOS rate: -0.919738 deg/s, cmd update: -2.759214 deg/s, cmd heading: 285.550638 deg, new cmd heading: 287.401877 deg. 2021-08-13T12:56:31.349Z,1628859391.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:31.589Z,1628859391.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:31.589Z,1628859391.589 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:31.589Z,1628859391.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:31.590Z,1628859391.590 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:31.993Z,1628859391.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFA,000,00635,186,80,80,82,FF 2021-08-13T12:56:31.993Z,1628859391.993 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:31.993Z,1628859391.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:31.995Z,1628859391.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:32.397Z,1628859392.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:32.797Z,1628859392.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,0060D,186,80,80,97,FF 2021-08-13T12:56:32.797Z,1628859392.797 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:33.183Z,1628859393.183 [Micromodem](INFO): Nmea in: $SNTTA,0.043691,,,,125633.52*4E 2021-08-13T12:56:33.235Z,1628859393.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 264.331572 deg, deltaT: 4.425831 s, approachRate: -0.542272 m/s, LOS rate: -0.990227 deg/s, posRepo size: 4 2021-08-13T12:56:33.238Z,1628859393.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.439999 m, bearing: 264.331572 deg, approachRate: -0.542272 m/s, LOS rate: -0.990227 deg/s, cmd update: -2.970681 deg/s, cmd heading: 273.294045 deg, new cmd heading: 272.131735 deg. 2021-08-13T12:56:35.611Z,1628859395.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:36.021Z,1628859396.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:36.021Z,1628859396.021 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:36.021Z,1628859396.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:36.022Z,1628859396.022 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:36.406Z,1628859396.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A0,000,0060D,186,80,80,97,FF 2021-08-13T12:56:36.406Z,1628859396.406 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:36.406Z,1628859396.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:36.408Z,1628859396.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:36.813Z,1628859396.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:37.213Z,1628859397.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,005E2,186,80,80,B4,FF 2021-08-13T12:56:37.214Z,1628859397.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:37.657Z,1628859397.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125637.93*50 2021-08-13T12:56:37.682Z,1628859397.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 260.595486 deg, deltaT: 4.446415 s, approachRate: -0.580241 m/s, LOS rate: -0.840247 deg/s, posRepo size: 4 2021-08-13T12:56:37.684Z,1628859397.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.860004 m, bearing: 260.595486 deg, approachRate: -0.580241 m/s, LOS rate: -0.840247 deg/s, cmd update: -2.520740 deg/s, cmd heading: 260.144615 deg, new cmd heading: 258.834025 deg. 2021-08-13T12:56:40.075Z,1628859400.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:40.441Z,1628859400.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:40.442Z,1628859400.442 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:40.442Z,1628859400.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:40.443Z,1628859400.443 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:40.846Z,1628859400.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B8,000,005E2,186,80,80,B4,FF 2021-08-13T12:56:40.846Z,1628859400.846 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:40.846Z,1628859400.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:40.848Z,1628859400.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:41.253Z,1628859401.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:41.657Z,1628859401.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,005BA,183,80,80,79,FF 2021-08-13T12:56:41.658Z,1628859401.658 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:42.119Z,1628859402.119 [Micromodem](INFO): Nmea in: $SNTTA,0.129122,,,,125642.37*49 2021-08-13T12:56:42.201Z,1628859402.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 267.247571 deg, deltaT: 4.437794 s, approachRate: -0.540811 m/s, LOS rate: 1.498962 deg/s, posRepo size: 4 2021-08-13T12:56:42.203Z,1628859402.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.459995 m, bearing: 267.247571 deg, approachRate: -0.540811 m/s, LOS rate: 1.498962 deg/s, cmd update: 4.496886 deg/s, cmd heading: 248.968148 deg, new cmd heading: 247.650267 deg. 2021-08-13T12:56:44.549Z,1628859404.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:45.058Z,1628859405.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:45.058Z,1628859405.058 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:45.058Z,1628859405.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:45.059Z,1628859405.059 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:45.349Z,1628859405.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01A,000,005BA,183,80,80,79,FF 2021-08-13T12:56:45.349Z,1628859405.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:45.349Z,1628859405.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:45.351Z,1628859405.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:45.745Z,1628859405.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:46.165Z,1628859406.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00592,186,80,80,8D,FF 2021-08-13T12:56:46.165Z,1628859406.165 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:46.547Z,1628859406.547 [Micromodem](INFO): Nmea in: $SNTTA,0.042349,,,,125646.88*4A 2021-08-13T12:56:46.581Z,1628859406.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 267.392180 deg, deltaT: 4.565550 s, approachRate: -0.525675 m/s, LOS rate: 0.031674 deg/s, posRepo size: 4 2021-08-13T12:56:46.583Z,1628859406.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.060001 m, bearing: 267.392180 deg, approachRate: -0.525675 m/s, LOS rate: 0.031674 deg/s, cmd update: 0.095022 deg/s, cmd heading: 269.587051 deg, new cmd heading: 271.029697 deg. 2021-08-13T12:56:49.006Z,1628859409.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:49.359Z,1628859409.359 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:49.359Z,1628859409.359 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:49.359Z,1628859409.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:49.360Z,1628859409.360 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:49.753Z,1628859409.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F1F,000,00592,186,80,80,8D,FF 2021-08-13T12:56:49.753Z,1628859409.753 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:49.753Z,1628859409.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:49.755Z,1628859409.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:50.210Z,1628859410.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:50.569Z,1628859410.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00566,186,80,80,66,FF 2021-08-13T12:56:50.570Z,1628859410.570 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:51.025Z,1628859411.025 [Micromodem](INFO): Nmea in: $SNTTA,0.059491,,,,125651.28*4E 2021-08-13T12:56:51.071Z,1628859411.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 260.193434 deg, deltaT: 4.322813 s, approachRate: -0.610714 m/s, LOS rate: -1.665292 deg/s, posRepo size: 4 2021-08-13T12:56:51.073Z,1628859411.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.419998 m, bearing: 260.193434 deg, approachRate: -0.610714 m/s, LOS rate: -1.665292 deg/s, cmd update: -4.995876 deg/s, cmd heading: 269.998221 deg, new cmd heading: 270.044247 deg. 2021-08-13T12:56:53.430Z,1628859413.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:53.789Z,1628859413.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:53.790Z,1628859413.790 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:53.790Z,1628859413.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:53.791Z,1628859413.791 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:54.209Z,1628859414.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 082,000,00566,186,80,80,66,FF 2021-08-13T12:56:54.209Z,1628859414.209 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:54.209Z,1628859414.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:54.211Z,1628859414.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:54.612Z,1628859414.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:55.030Z,1628859415.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00544,186,80,80,92,FF 2021-08-13T12:56:55.030Z,1628859415.030 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:55.457Z,1628859415.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125655.74*5D 2021-08-13T12:56:55.482Z,1628859415.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 257.824451 deg, deltaT: 4.475423 s, approachRate: -0.455822 m/s, LOS rate: -0.529332 deg/s, posRepo size: 4 2021-08-13T12:56:55.504Z,1628859415.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.380001 m, bearing: 257.824451 deg, approachRate: -0.455822 m/s, LOS rate: -0.529332 deg/s, cmd update: -1.587995 deg/s, cmd heading: 247.639827 deg, new cmd heading: 245.542378 deg. 2021-08-13T12:56:57.869Z,1628859417.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:56:58.373Z,1628859418.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:56:58.373Z,1628859418.373 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:56:58.373Z,1628859418.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:56:58.374Z,1628859418.374 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:56:58.689Z,1628859418.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 17D,000,00544,186,80,80,92,FF 2021-08-13T12:56:58.689Z,1628859418.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:56:58.689Z,1628859418.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:56:58.691Z,1628859418.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:56:59.080Z,1628859419.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:56:59.485Z,1628859419.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00517,185,80,80,80,FF 2021-08-13T12:56:59.485Z,1628859419.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:56:59.889Z,1628859419.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125700.22*5F 2021-08-13T12:56:59.913Z,1628859419.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 264.597212 deg, deltaT: 4.440897 s, approachRate: -0.607985 m/s, LOS rate: 1.525089 deg/s, posRepo size: 4 2021-08-13T12:56:59.915Z,1628859419.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.680000 m, bearing: 264.597212 deg, approachRate: -0.607985 m/s, LOS rate: 1.525089 deg/s, cmd update: 4.575265 deg/s, cmd heading: 240.587518 deg, new cmd heading: 239.937112 deg. 2021-08-13T12:57:02.358Z,1628859422.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:02.685Z,1628859422.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:02.685Z,1628859422.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:02.685Z,1628859422.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:02.686Z,1628859422.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:03.089Z,1628859423.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD3,000,00517,185,80,80,80,FF 2021-08-13T12:57:03.089Z,1628859423.089 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:03.089Z,1628859423.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:03.091Z,1628859423.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:03.501Z,1628859423.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:03.908Z,1628859423.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,004EC,185,80,80,7F,FF 2021-08-13T12:57:03.908Z,1628859423.908 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:04.341Z,1628859424.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125704.61*5C 2021-08-13T12:57:04.418Z,1628859424.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 265.232337 deg, deltaT: 4.426646 s, approachRate: -0.582834 m/s, LOS rate: 0.143478 deg/s, posRepo size: 4 2021-08-13T12:57:04.419Z,1628859424.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m. 2021-08-13T12:57:04.421Z,1628859424.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.099998 m, bearing: 265.232337 deg, approachRate: -0.582834 m/s, LOS rate: 0.143478 deg/s, cmd update: 0.430434 deg/s, cmd heading: 260.840845 deg, new cmd heading: 263.076091 deg. 2021-08-13T12:57:04.746Z,1628859424.746 [PowerOnly](INFO): Powering up loadControl 2021-08-13T12:57:04.793Z,1628859424.793 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T12:57:04.793Z,1628859424.793 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:57:04.793Z,1628859424.793 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T12:57:04.794Z,1628859424.794 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T12:57:04.794Z,1628859424.794 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T12:57:04.794Z,1628859424.794 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T12:57:05.167Z,1628859425.167 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T12:57:05.167Z,1628859425.167 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:57:05.167Z,1628859425.167 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T12:57:05.167Z,1628859425.167 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:57:06.744Z,1628859426.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:07.129Z,1628859427.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:07.129Z,1628859427.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:07.129Z,1628859427.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:07.130Z,1628859427.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:07.557Z,1628859427.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E89,000,004EC,185,80,80,7F,FF 2021-08-13T12:57:07.557Z,1628859427.557 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:07.557Z,1628859427.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:07.559Z,1628859427.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:07.959Z,1628859427.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:08.766Z,1628859428.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125709.08*5E 2021-08-13T12:57:09.558Z,1628859429.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,037BF,185,80,80,71,FF 2021-08-13T12:57:09.558Z,1628859429.558 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:09.607Z,1628859429.607 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:10.014Z,1628859430.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 818.760010 m, bearing: 261.448030 deg, deltaT: 5.674811 s, approachRate: 137.565826 m/s, LOS rate: -0.666861 deg/s, posRepo size: 4 2021-08-13T12:57:10.016Z,1628859430.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 818.760010 m, bearing: 261.448030 deg, approachRate: 137.565826 m/s, LOS rate: -0.666861 deg/s, cmd update: -2.000582 deg/s, cmd heading: 263.272881 deg, new cmd heading: 263.459809 deg. 2021-08-13T12:57:10.426Z,1628859430.426 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T12:57:10.426Z,1628859430.426 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:57:10.426Z,1628859430.426 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T12:57:10.427Z,1628859430.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T12:57:10.427Z,1628859430.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T12:57:10.427Z,1628859430.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T12:57:10.797Z,1628859430.797 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T12:57:10.798Z,1628859430.798 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:57:10.798Z,1628859430.798 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T12:57:10.798Z,1628859430.798 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T12:57:12.258Z,1628859432.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:12.485Z,1628859432.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:12.485Z,1628859432.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:12.485Z,1628859432.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:12.486Z,1628859432.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:12.857Z,1628859432.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,037BF,185,80,80,71,FF 2021-08-13T12:57:12.858Z,1628859432.858 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:12.858Z,1628859432.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:12.859Z,1628859432.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:13.265Z,1628859433.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:14.072Z,1628859434.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125714.38*51 2021-08-13T12:57:14.866Z,1628859434.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B4,000,03796,186,80,80,67,FF 2021-08-13T12:57:14.867Z,1628859434.867 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:15.317Z,1628859435.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 816.299988 m, bearing: 260.079807 deg, deltaT: 5.293823 s, approachRate: -0.464697 m/s, LOS rate: -0.258457 deg/s, posRepo size: 4 2021-08-13T12:57:15.319Z,1628859435.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 816.299988 m, bearing: 260.079807 deg, approachRate: -0.464697 m/s, LOS rate: -0.258457 deg/s, cmd update: -0.775370 deg/s, cmd heading: 252.638752 deg, new cmd heading: 251.796293 deg. 2021-08-13T12:57:17.743Z,1628859437.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:18.095Z,1628859438.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:18.097Z,1628859438.097 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:18.098Z,1628859438.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:18.099Z,1628859438.099 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:18.509Z,1628859438.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B4,000,03796,186,80,80,67,FF 2021-08-13T12:57:18.509Z,1628859438.509 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:18.509Z,1628859438.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:18.511Z,1628859438.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:18.905Z,1628859438.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:19.317Z,1628859439.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00462,183,80,80,8B,FF 2021-08-13T12:57:19.317Z,1628859439.317 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:19.757Z,1628859439.757 [Micromodem](INFO): Nmea in: $SNTTA,0.053301,,,,125720.03*44 2021-08-13T12:57:19.780Z,1628859439.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 261.295143 deg, deltaT: 4.505907 s, approachRate: -174.544205 m/s, LOS rate: 0.269721 deg/s, posRepo size: 4 2021-08-13T12:57:19.781Z,1628859439.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.82 m. 2021-08-13T12:57:19.781Z,1628859439.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.82 m. 2021-08-13T12:57:19.781Z,1628859439.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T12:57:19.783Z,1628859439.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.819998 m, bearing: 261.295143 deg, approachRate: -174.544205 m/s, LOS rate: 0.269721 deg/s, cmd update: 0.809162 deg/s, cmd heading: 249.142772 deg, new cmd heading: 248.851275 deg. 2021-08-13T12:57:20.234Z,1628859440.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T12:57:20.234Z,1628859440.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:57:20.235Z,1628859440.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T12:57:20.235Z,1628859440.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T12:57:20.235Z,1628859440.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T12:57:20.235Z,1628859440.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T12:57:20.554Z,1628859440.554 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T12:57:20.554Z,1628859440.554 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:57:20.554Z,1628859440.554 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T12:57:20.554Z,1628859440.554 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T12:57:22.237Z,1628859442.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:22.612Z,1628859442.612 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:22.612Z,1628859442.612 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:22.613Z,1628859442.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:22.613Z,1628859442.613 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:22.956Z,1628859442.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF3,000,00462,183,80,80,8B,FF 2021-08-13T12:57:22.957Z,1628859442.957 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:22.957Z,1628859442.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:22.962Z,1628859442.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:23.359Z,1628859443.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:23.749Z,1628859443.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,0043F,184,80,80,53,FF 2021-08-13T12:57:23.750Z,1628859443.750 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:23.770Z,1628859443.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:24.237Z,1628859444.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125724.49*54 2021-08-13T12:57:24.294Z,1628859444.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 257.291396 deg, deltaT: 4.363036 s, approachRate: -0.481315 m/s, LOS rate: -0.917652 deg/s, posRepo size: 4 2021-08-13T12:57:24.297Z,1628859444.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.720001 m, bearing: 257.291396 deg, approachRate: -0.481315 m/s, LOS rate: -0.917652 deg/s, cmd update: -2.752955 deg/s, cmd heading: 252.672858 deg, new cmd heading: 253.099763 deg. 2021-08-13T12:57:26.301Z,1628859446.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:26.604Z,1628859446.604 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:26.605Z,1628859446.605 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:26.606Z,1628859446.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:26.607Z,1628859446.607 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:27.003Z,1628859447.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAA,000,0043F,184,80,80,53,FF 2021-08-13T12:57:27.004Z,1628859447.004 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:27.005Z,1628859447.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:27.008Z,1628859447.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:27.395Z,1628859447.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:27.785Z,1628859447.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0041A,184,80,80,8A,FF 2021-08-13T12:57:27.786Z,1628859447.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:27.838Z,1628859447.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:28.239Z,1628859448.239 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125728.53*53 2021-08-13T12:57:28.321Z,1628859448.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 256.601164 deg, deltaT: 4.068230 s, approachRate: -0.545693 m/s, LOS rate: -0.169664 deg/s, posRepo size: 4 2021-08-13T12:57:28.323Z,1628859448.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.499998 m, bearing: 256.601164 deg, approachRate: -0.545693 m/s, LOS rate: -0.169664 deg/s, cmd update: -0.508992 deg/s, cmd heading: 241.484177 deg, new cmd heading: 240.134240 deg. 2021-08-13T12:57:30.679Z,1628859450.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:31.025Z,1628859451.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:31.025Z,1628859451.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:31.025Z,1628859451.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:31.026Z,1628859451.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:31.533Z,1628859451.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC5,000,0041A,184,80,80,8A,FF 2021-08-13T12:57:31.534Z,1628859451.534 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:31.534Z,1628859451.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:31.535Z,1628859451.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:31.829Z,1628859451.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:32.241Z,1628859452.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,003F1,187,80,80,5D,FF 2021-08-13T12:57:32.242Z,1628859452.242 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:32.346Z,1628859452.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:32.676Z,1628859452.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 260.167288 deg, deltaT: 4.508092 s, approachRate: -0.545685 m/s, LOS rate: 0.791049 deg/s, posRepo size: 4 2021-08-13T12:57:32.678Z,1628859452.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.039999 m, bearing: 260.167288 deg, approachRate: -0.545685 m/s, LOS rate: 0.791049 deg/s, cmd update: 2.373148 deg/s, cmd heading: 239.189560 deg, new cmd heading: 239.018269 deg. 2021-08-13T12:57:33.062Z,1628859453.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125733.06*59 2021-08-13T12:57:35.087Z,1628859455.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:35.466Z,1628859455.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:35.466Z,1628859455.466 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:35.466Z,1628859455.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:35.467Z,1628859455.467 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:35.874Z,1628859455.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC4,000,003F1,187,80,80,5D,FF 2021-08-13T12:57:35.875Z,1628859455.875 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:35.875Z,1628859455.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:35.878Z,1628859455.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:36.342Z,1628859456.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:36.677Z,1628859456.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,003CA,185,80,80,69,FF 2021-08-13T12:57:36.678Z,1628859456.678 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:36.715Z,1628859456.715 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:37.109Z,1628859457.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125737.40*5F 2021-08-13T12:57:37.189Z,1628859457.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 263.990090 deg, deltaT: 4.377396 s, approachRate: -0.534564 m/s, LOS rate: 0.873305 deg/s, posRepo size: 4 2021-08-13T12:57:37.197Z,1628859457.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.700001 m, bearing: 263.990090 deg, approachRate: -0.534564 m/s, LOS rate: 0.873305 deg/s, cmd update: 2.619915 deg/s, cmd heading: 249.566529 deg, new cmd heading: 250.683358 deg. 2021-08-13T12:57:39.229Z,1628859459.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:39.533Z,1628859459.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:39.533Z,1628859459.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:39.533Z,1628859459.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:39.534Z,1628859459.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:39.943Z,1628859459.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E56,000,003CA,185,80,80,69,FF 2021-08-13T12:57:39.944Z,1628859459.944 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:39.945Z,1628859459.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:39.950Z,1628859459.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:40.324Z,1628859460.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:40.729Z,1628859460.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,003AC,183,80,80,5D,FF 2021-08-13T12:57:40.729Z,1628859460.729 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:40.749Z,1628859460.749 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:41.135Z,1628859461.135 [Micromodem](INFO): Nmea in: $SNTTA,0.032248,,,,125741.47*48 2021-08-13T12:57:41.184Z,1628859461.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 254.651309 deg, deltaT: 4.025298 s, approachRate: -0.447173 m/s, LOS rate: -2.320022 deg/s, posRepo size: 4 2021-08-13T12:57:41.186Z,1628859461.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.899998 m, bearing: 254.651309 deg, approachRate: -0.447173 m/s, LOS rate: -2.320022 deg/s, cmd update: -6.960067 deg/s, cmd heading: 260.135461 deg, new cmd heading: 261.283451 deg. 2021-08-13T12:57:43.582Z,1628859463.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:43.952Z,1628859463.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:43.953Z,1628859463.953 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:43.954Z,1628859463.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:43.955Z,1628859463.955 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:44.354Z,1628859464.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF1,000,003AC,183,80,80,5D,FF 2021-08-13T12:57:44.354Z,1628859464.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:44.354Z,1628859464.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:44.356Z,1628859464.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:44.775Z,1628859464.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:45.161Z,1628859465.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,0038B,186,80,80,9E,FF 2021-08-13T12:57:45.161Z,1628859465.161 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:45.221Z,1628859465.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:45.617Z,1628859465.617 [Micromodem](INFO): Nmea in: $SNTTA,0.035901,,,,125745.88*4E 2021-08-13T12:57:45.640Z,1628859465.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 256.813228 deg, deltaT: 4.471975 s, approachRate: -0.442757 m/s, LOS rate: 0.483437 deg/s, posRepo size: 4 2021-08-13T12:57:45.642Z,1628859465.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.919998 m, bearing: 256.813228 deg, approachRate: -0.442757 m/s, LOS rate: 0.483437 deg/s, cmd update: 1.450311 deg/s, cmd heading: 229.074353 deg, new cmd heading: 226.073291 deg. 2021-08-13T12:57:48.058Z,1628859468.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:48.397Z,1628859468.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:48.397Z,1628859468.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:48.398Z,1628859468.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:48.399Z,1628859468.399 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:48.793Z,1628859468.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0DB,000,0038B,186,80,80,9E,FF 2021-08-13T12:57:48.793Z,1628859468.793 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:48.794Z,1628859468.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:48.795Z,1628859468.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:49.209Z,1628859469.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:49.605Z,1628859469.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00359,187,80,80,B0,FF 2021-08-13T12:57:49.606Z,1628859469.606 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:49.699Z,1628859469.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:50.053Z,1628859470.053 [Micromodem](INFO): Nmea in: $SNTTA,0.034052,,,,125750.32*45 2021-08-13T12:57:50.083Z,1628859470.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 258.123804 deg, deltaT: 4.478882 s, approachRate: -0.669810 m/s, LOS rate: 0.292612 deg/s, posRepo size: 4 2021-08-13T12:57:50.127Z,1628859470.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.919997 m, bearing: 258.123804 deg, approachRate: -0.669810 m/s, LOS rate: 0.292612 deg/s, cmd update: 0.877837 deg/s, cmd heading: 235.560370 deg, new cmd heading: 236.144132 deg. 2021-08-13T12:57:52.595Z,1628859472.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:52.964Z,1628859472.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:52.965Z,1628859472.965 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:52.966Z,1628859472.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:52.967Z,1628859472.967 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:53.265Z,1628859473.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8D,000,00359,187,80,80,B0,FF 2021-08-13T12:57:53.265Z,1628859473.265 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:53.265Z,1628859473.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:53.267Z,1628859473.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:53.672Z,1628859473.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:54.057Z,1628859474.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00336,186,80,80,9F,FF 2021-08-13T12:57:54.057Z,1628859474.057 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:54.110Z,1628859474.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:54.476Z,1628859474.476 [Micromodem](INFO): Nmea in: $SNTTA,0.031840,,,,125754.79*40 2021-08-13T12:57:54.512Z,1628859474.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 259.838127 deg, deltaT: 4.410987 s, approachRate: -0.476083 m/s, LOS rate: 0.388648 deg/s, posRepo size: 4 2021-08-13T12:57:54.515Z,1628859474.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.820001 m, bearing: 259.838127 deg, approachRate: -0.476083 m/s, LOS rate: 0.388648 deg/s, cmd update: 1.165945 deg/s, cmd heading: 239.430192 deg, new cmd heading: 239.801632 deg. 2021-08-13T12:57:56.908Z,1628859476.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:57:57.289Z,1628859477.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:57:57.289Z,1628859477.289 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:57:57.289Z,1628859477.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:57:57.290Z,1628859477.290 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:57:57.681Z,1628859477.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E16,000,00336,186,80,80,9F,FF 2021-08-13T12:57:57.681Z,1628859477.681 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:57:57.681Z,1628859477.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:57:57.683Z,1628859477.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:57:58.095Z,1628859478.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:57:58.494Z,1628859478.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00314,187,80,80,AA,FF 2021-08-13T12:57:58.494Z,1628859478.494 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:57:58.534Z,1628859478.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:57:58.929Z,1628859478.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125759.21*50 2021-08-13T12:57:59.005Z,1628859479.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 255.625676 deg, deltaT: 4.423409 s, approachRate: -0.461183 m/s, LOS rate: -0.952309 deg/s, posRepo size: 4 2021-08-13T12:57:59.007Z,1628859479.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.780002 m, bearing: 255.625676 deg, approachRate: -0.461183 m/s, LOS rate: -0.952309 deg/s, cmd update: -2.856926 deg/s, cmd heading: 244.609138 deg, new cmd heading: 245.156600 deg. 2021-08-13T12:58:01.344Z,1628859481.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:01.725Z,1628859481.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:01.725Z,1628859481.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:01.725Z,1628859481.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:01.726Z,1628859481.726 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:02.164Z,1628859482.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E6E,000,00314,187,80,80,AA,FF 2021-08-13T12:58:02.164Z,1628859482.164 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:02.164Z,1628859482.164 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:02.166Z,1628859482.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:02.307Z,1628859482.307 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-08-13T12:58:02.702Z,1628859482.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:03.105Z,1628859483.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,002F6,186,80,80,DA,FF 2021-08-13T12:58:03.106Z,1628859483.106 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:03.210Z,1628859483.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:03.517Z,1628859483.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125803.69*5C 2021-08-13T12:58:03.552Z,1628859483.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 254.837718 deg, deltaT: 4.676065 s, approachRate: -0.384940 m/s, LOS rate: -0.168509 deg/s, posRepo size: 4 2021-08-13T12:58:03.554Z,1628859483.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.979999 m, bearing: 254.837718 deg, approachRate: -0.384940 m/s, LOS rate: -0.168509 deg/s, cmd update: -0.505526 deg/s, cmd heading: 231.282169 deg, new cmd heading: 230.263683 deg. 2021-08-13T12:58:06.072Z,1628859486.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:06.345Z,1628859486.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:06.345Z,1628859486.345 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:06.345Z,1628859486.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:06.346Z,1628859486.346 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:06.821Z,1628859486.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4A,000,002F6,186,80,80,DA,FF 2021-08-13T12:58:06.821Z,1628859486.821 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:06.821Z,1628859486.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:06.823Z,1628859486.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:07.208Z,1628859487.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:07.589Z,1628859487.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,002D7,189,80,80,AA,FF 2021-08-13T12:58:07.589Z,1628859487.589 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:07.609Z,1628859487.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:08.027Z,1628859488.027 [Micromodem](INFO): Nmea in: $SNTTA,0.026404,,,,125808.35*44 2021-08-13T12:58:08.063Z,1628859488.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 260.264959 deg, deltaT: 4.399225 s, approachRate: -0.422802 m/s, LOS rate: 1.233681 deg/s, posRepo size: 4 2021-08-13T12:58:08.066Z,1628859488.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.119999 m, bearing: 260.264959 deg, approachRate: -0.422802 m/s, LOS rate: 1.233681 deg/s, cmd update: 3.701043 deg/s, cmd heading: 229.052483 deg, new cmd heading: 228.821401 deg. 2021-08-13T12:58:10.454Z,1628859490.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:10.801Z,1628859490.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:10.801Z,1628859490.801 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:10.801Z,1628859490.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:10.802Z,1628859490.802 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:11.213Z,1628859491.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DA1,000,002D7,189,80,80,AA,FF 2021-08-13T12:58:11.213Z,1628859491.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:11.213Z,1628859491.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:11.215Z,1628859491.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:11.613Z,1628859491.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:12.029Z,1628859492.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,002CF,186,80,80,AA,FF 2021-08-13T12:58:12.030Z,1628859492.030 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:12.089Z,1628859492.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:12.469Z,1628859492.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125812.74*50 2021-08-13T12:58:12.518Z,1628859492.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 235.249446 deg, deltaT: 4.479972 s, approachRate: -0.107144 m/s, LOS rate: -5.583855 deg/s, posRepo size: 4 2021-08-13T12:58:12.520Z,1628859492.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.639998 m, bearing: 235.249446 deg, approachRate: -0.107144 m/s, LOS rate: -5.583855 deg/s, cmd update: -12.000000 deg/s, cmd heading: 245.618243 deg, new cmd heading: 247.229936 deg. 2021-08-13T12:58:14.860Z,1628859494.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:15.257Z,1628859495.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:15.257Z,1628859495.257 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:15.257Z,1628859495.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:15.258Z,1628859495.258 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:15.657Z,1628859495.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED5,000,002CF,186,80,80,AA,FF 2021-08-13T12:58:15.657Z,1628859495.657 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:15.657Z,1628859495.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:15.659Z,1628859495.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:16.057Z,1628859496.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:16.473Z,1628859496.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,002D2,186,80,80,83,FF 2021-08-13T12:58:16.473Z,1628859496.473 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:16.534Z,1628859496.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:16.909Z,1628859496.909 [Micromodem](INFO): Nmea in: $SNTTA,0.019063,,,,125817.18*4C 2021-08-13T12:58:16.963Z,1628859496.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.820000 m, bearing: 247.480512 deg, deltaT: 4.444940 s, approachRate: 0.040496 m/s, LOS rate: 2.751683 deg/s, posRepo size: 4 2021-08-13T12:58:16.979Z,1628859496.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.820000 m, bearing: 247.480512 deg, approachRate: 0.040496 m/s, LOS rate: 2.751683 deg/s, cmd update: 8.255049 deg/s, cmd heading: 192.472701 deg, new cmd heading: 187.419141 deg. 2021-08-13T12:58:19.381Z,1628859499.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:19.701Z,1628859499.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:19.701Z,1628859499.701 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:19.701Z,1628859499.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:19.702Z,1628859499.702 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:20.221Z,1628859500.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE8,000,002D2,186,80,80,83,FF 2021-08-13T12:58:20.221Z,1628859500.221 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:20.221Z,1628859500.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:20.223Z,1628859500.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:20.644Z,1628859500.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:21.036Z,1628859501.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,002F8,186,80,80,41,FF 2021-08-13T12:58:21.037Z,1628859501.037 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:21.067Z,1628859501.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:21.433Z,1628859501.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125821.75*51 2021-08-13T12:58:21.470Z,1628859501.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 238.975369 deg, deltaT: 4.533438 s, approachRate: 0.502930 m/s, LOS rate: -1.876091 deg/s, posRepo size: 4 2021-08-13T12:58:21.472Z,1628859501.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.100000 m, bearing: 238.975369 deg, approachRate: 0.502930 m/s, LOS rate: -1.876091 deg/s, cmd update: -5.628274 deg/s, cmd heading: 230.060043 deg, new cmd heading: 233.409859 deg. 2021-08-13T12:58:23.863Z,1628859503.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:24.233Z,1628859504.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:24.233Z,1628859504.233 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:24.233Z,1628859504.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:24.234Z,1628859504.234 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:24.633Z,1628859504.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F58,000,002F8,186,80,80,41,FF 2021-08-13T12:58:24.633Z,1628859504.633 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:24.633Z,1628859504.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:24.635Z,1628859504.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:25.050Z,1628859505.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:25.449Z,1628859505.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00305,186,80,80,3B,FF 2021-08-13T12:58:25.449Z,1628859505.449 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:25.497Z,1628859505.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:25.891Z,1628859505.891 [Micromodem](INFO): Nmea in: $SNTTA,0.035851,,,,125826.16*47 2021-08-13T12:58:25.916Z,1628859505.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 193.812000 deg, deltaT: 4.428885 s, approachRate: 0.176116 m/s, LOS rate: -10.197458 deg/s, posRepo size: 4 2021-08-13T12:58:25.918Z,1628859505.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.880000 m, bearing: 193.812000 deg, approachRate: 0.176116 m/s, LOS rate: -10.197458 deg/s, cmd update: -12.000000 deg/s, cmd heading: 205.131367 deg, new cmd heading: 202.755470 deg. 2021-08-13T12:58:28.331Z,1628859508.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:28.677Z,1628859508.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:28.677Z,1628859508.677 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:28.678Z,1628859508.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:28.679Z,1628859508.679 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:29.077Z,1628859509.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D7,000,00305,186,80,80,3B,FF 2021-08-13T12:58:29.077Z,1628859509.077 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:29.078Z,1628859509.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:29.079Z,1628859509.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:29.488Z,1628859509.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:29.886Z,1628859509.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00336,187,80,80,62,FF 2021-08-13T12:58:29.886Z,1628859509.886 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:29.936Z,1628859509.936 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:30.333Z,1628859510.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125830.61*54 2021-08-13T12:58:30.401Z,1628859510.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 213.573404 deg, deltaT: 4.439884 s, approachRate: 0.662180 m/s, LOS rate: 4.450883 deg/s, posRepo size: 4 2021-08-13T12:58:30.403Z,1628859510.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.820001 m, bearing: 213.573404 deg, approachRate: 0.662180 m/s, LOS rate: 4.450883 deg/s, cmd update: 12.000000 deg/s, cmd heading: 151.853333 deg, new cmd heading: 146.489309 deg. 2021-08-13T12:58:32.811Z,1628859512.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:33.133Z,1628859513.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:33.133Z,1628859513.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:33.133Z,1628859513.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:33.134Z,1628859513.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:33.601Z,1628859513.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F62,000,00336,187,80,80,62,FF 2021-08-13T12:58:33.601Z,1628859513.601 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:33.601Z,1628859513.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:33.603Z,1628859513.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:33.988Z,1628859513.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:34.349Z,1628859514.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0034B,186,80,80,6C,FF 2021-08-13T12:58:34.349Z,1628859514.349 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:34.353Z,1628859514.353 [Micromodem](INFO): Nmea in: $SNTTA,0.157537,0.157912,,,125835.13*5F 2021-08-13T12:58:34.437Z,1628859514.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:34.796Z,1628859514.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 195.406262 deg, deltaT: 4.500274 s, approachRate: 0.279983 m/s, LOS rate: -4.036897 deg/s, posRepo size: 4 2021-08-13T12:58:34.798Z,1628859514.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.080002 m, bearing: 195.406262 deg, approachRate: 0.279983 m/s, LOS rate: -4.036897 deg/s, cmd update: -12.000000 deg/s, cmd heading: 205.807363 deg, new cmd heading: 210.007843 deg. 2021-08-13T12:58:37.186Z,1628859517.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:37.569Z,1628859517.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:37.570Z,1628859517.570 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:37.570Z,1628859517.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:37.571Z,1628859517.571 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:37.977Z,1628859517.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F88,000,0034B,186,80,80,6C,FF 2021-08-13T12:58:37.977Z,1628859517.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:37.978Z,1628859517.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:37.982Z,1628859517.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:38.385Z,1628859518.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:38.407Z,1628859518.407 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T12:58:38.777Z,1628859518.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0036C,187,80,80,79,FF 2021-08-13T12:58:38.778Z,1628859518.778 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:38.830Z,1628859518.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:39.214Z,1628859519.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125839.50*5F 2021-08-13T12:58:39.240Z,1628859519.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 190.718744 deg, deltaT: 4.392955 s, approachRate: 0.450721 m/s, LOS rate: -1.067053 deg/s, posRepo size: 4 2021-08-13T12:58:39.242Z,1628859519.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 190.718744 deg, approachRate: 0.450721 m/s, LOS rate: -1.067053 deg/s, cmd update: -3.201160 deg/s, cmd heading: 153.090894 deg, new cmd heading: 148.088166 deg. 2021-08-13T12:58:41.619Z,1628859521.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:42.029Z,1628859522.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:42.029Z,1628859522.029 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:42.029Z,1628859522.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:42.030Z,1628859522.030 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:42.417Z,1628859522.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F07,000,0036C,187,80,80,79,FF 2021-08-13T12:58:42.417Z,1628859522.417 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:42.417Z,1628859522.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:42.419Z,1628859522.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:42.813Z,1628859522.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:43.217Z,1628859523.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,003A5,183,80,80,91,FF 2021-08-13T12:58:43.218Z,1628859523.218 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:43.248Z,1628859523.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:43.653Z,1628859523.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125843.94*5A 2021-08-13T12:58:43.705Z,1628859523.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 196.041661 deg, deltaT: 4.418738 s, approachRate: 0.773977 m/s, LOS rate: 1.204624 deg/s, posRepo size: 4 2021-08-13T12:58:43.705Z,1628859523.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.48 m. Rolling out. 2021-08-13T12:58:43.706Z,1628859523.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T12:58:44.081Z,1628859524.081 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T12:58:46.195Z,1628859526.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:46.458Z,1628859526.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:46.458Z,1628859526.458 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:46.459Z,1628859526.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:46.460Z,1628859526.460 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:46.993Z,1628859526.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC0,000,003A5,183,80,80,91,FF 2021-08-13T12:58:46.993Z,1628859526.993 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:46.994Z,1628859526.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:46.995Z,1628859526.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:47.310Z,1628859527.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:47.709Z,1628859527.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,003B3,186,80,80,6B,FF 2021-08-13T12:58:47.709Z,1628859527.709 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:47.729Z,1628859527.729 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:48.201Z,1628859528.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 172.962875 deg, deltaT: 4.480589 s, approachRate: 0.187476 m/s, LOS rate: -5.150837 deg/s, posRepo size: 4 2021-08-13T12:58:48.521Z,1628859528.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125848.52*5B 2021-08-13T12:58:50.511Z,1628859530.511 [PowerOnly](INFO): Powering down loadControl 2021-08-13T12:58:50.565Z,1628859530.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:50.927Z,1628859530.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:50.927Z,1628859530.927 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:50.927Z,1628859530.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:50.929Z,1628859530.929 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:51.325Z,1628859531.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 130,000,003B3,186,80,80,6B,FF 2021-08-13T12:58:51.325Z,1628859531.325 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:51.325Z,1628859531.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:51.327Z,1628859531.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:51.733Z,1628859531.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:52.173Z,1628859532.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,003C6,187,80,80,8D,FF 2021-08-13T12:58:52.174Z,1628859532.174 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:52.273Z,1628859532.273 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:52.553Z,1628859532.553 [Micromodem](INFO): Nmea in: $SNTTA,0.057860,0.338392,,,125852.85*56 2021-08-13T12:58:52.586Z,1628859532.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 186.830426 deg, deltaT: 4.544341 s, approachRate: 0.250861 m/s, LOS rate: 3.051609 deg/s, posRepo size: 4 2021-08-13T12:58:55.024Z,1628859535.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:55.369Z,1628859535.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:55.369Z,1628859535.369 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:55.369Z,1628859535.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:55.370Z,1628859535.370 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:58:55.769Z,1628859535.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE4,000,003C6,187,80,80,8D,FF 2021-08-13T12:58:55.769Z,1628859535.769 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:58:55.769Z,1628859535.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:58:55.771Z,1628859535.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:58:56.213Z,1628859536.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:58:56.577Z,1628859536.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,003D9,184,80,80,A2,FF 2021-08-13T12:58:56.578Z,1628859536.578 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:58:56.777Z,1628859536.777 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:58:57.029Z,1628859537.029 [Micromodem](INFO): Nmea in: $SNTTA,0.421419,,,,125857.29*4C 2021-08-13T12:58:57.082Z,1628859537.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 160.393483 deg, deltaT: 4.503447 s, approachRate: 0.253140 m/s, LOS rate: -5.870380 deg/s, posRepo size: 4 2021-08-13T12:58:59.518Z,1628859539.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:58:59.833Z,1628859539.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:58:59.833Z,1628859539.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:58:59.833Z,1628859539.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:58:59.834Z,1628859539.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:00.297Z,1628859540.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03D,000,003D9,184,80,80,A2,FF 2021-08-13T12:59:00.297Z,1628859540.297 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:00.297Z,1628859540.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:00.299Z,1628859540.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:00.645Z,1628859540.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:01.042Z,1628859541.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,003DC,187,80,80,62,FF 2021-08-13T12:59:01.043Z,1628859541.043 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:01.095Z,1628859541.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:01.496Z,1628859541.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 130.066227 deg, deltaT: 4.331115 s, approachRate: 0.041559 m/s, LOS rate: -7.002182 deg/s, posRepo size: 4 2021-08-13T12:59:01.850Z,1628859541.850 [Micromodem](INFO): Nmea in: $SNTTA,0.119155,,,,125901.82*4C 2021-08-13T12:59:03.862Z,1628859543.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:04.245Z,1628859544.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:04.245Z,1628859544.245 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:04.246Z,1628859544.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:04.246Z,1628859544.246 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:04.653Z,1628859544.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 208,000,003DC,187,80,80,62,FF 2021-08-13T12:59:04.653Z,1628859544.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:04.653Z,1628859544.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:04.655Z,1628859544.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:05.063Z,1628859545.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:05.890Z,1628859545.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125906.18*5E 2021-08-13T12:59:06.735Z,1628859546.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:08.289Z,1628859548.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,187,80,80,62,FF 2021-08-13T12:59:08.289Z,1628859548.289 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,187,80,80,62,FF 2021-08-13T12:59:08.289Z,1628859548.289 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T12:59:09.529Z,1628859549.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:09.913Z,1628859549.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:09.913Z,1628859549.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:09.913Z,1628859549.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:09.914Z,1628859549.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:10.313Z,1628859550.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,187,80,80,62,FF 2021-08-13T12:59:10.313Z,1628859550.313 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:10.313Z,1628859550.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:10.315Z,1628859550.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:10.722Z,1628859550.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:11.117Z,1628859551.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,003E1,189,80,80,94,FF 2021-08-13T12:59:11.117Z,1628859551.117 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:11.188Z,1628859551.188 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:11.558Z,1628859551.558 [Micromodem](INFO): Nmea in: $SNTTA,0.049807,,,,125911.84*41 2021-08-13T12:59:11.580Z,1628859551.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 101.343956 deg, deltaT: 10.080067 s, approachRate: 0.029762 m/s, LOS rate: -2.849413 deg/s, posRepo size: 4 2021-08-13T12:59:14.048Z,1628859554.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:14.369Z,1628859554.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:14.369Z,1628859554.369 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:14.369Z,1628859554.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:14.370Z,1628859554.370 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:14.769Z,1628859554.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 34F,000,003E1,189,80,80,94,FF 2021-08-13T12:59:14.769Z,1628859554.769 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:14.769Z,1628859554.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:14.771Z,1628859554.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:15.164Z,1628859555.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:15.565Z,1628859555.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36C,000,003E1,189,80,80,C0,FF 2021-08-13T12:59:15.566Z,1628859555.566 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:15.585Z,1628859555.585 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:16.029Z,1628859556.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125916.30*55 2021-08-13T12:59:16.086Z,1628859556.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 96.079301 deg, deltaT: 4.396844 s, approachRate: 0.000000 m/s, LOS rate: -1.197371 deg/s, posRepo size: 4 2021-08-13T12:59:18.091Z,1628859558.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:18.389Z,1628859558.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:18.389Z,1628859558.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:18.389Z,1628859558.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:18.390Z,1628859558.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:18.793Z,1628859558.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 36C,000,003E1,189,80,80,C0,FF 2021-08-13T12:59:18.794Z,1628859558.794 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:18.794Z,1628859558.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:18.795Z,1628859558.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:19.205Z,1628859559.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:19.605Z,1628859559.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,355,000,003E0,189,80,80,92,FF 2021-08-13T12:59:19.606Z,1628859559.606 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:19.680Z,1628859559.680 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:20.053Z,1628859560.053 [Micromodem](INFO): Nmea in: $SNTTA,0.042796,,,,125920.32*42 2021-08-13T12:59:20.159Z,1628859560.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 94.865686 deg, deltaT: 4.095324 s, approachRate: -0.014650 m/s, LOS rate: -0.296342 deg/s, posRepo size: 4 2021-08-13T12:59:22.196Z,1628859562.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:22.477Z,1628859562.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:22.477Z,1628859562.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:22.477Z,1628859562.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:22.478Z,1628859562.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:22.886Z,1628859562.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 355,000,003E0,189,80,80,92,FF 2021-08-13T12:59:22.886Z,1628859562.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:22.886Z,1628859562.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:22.889Z,1628859562.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:23.303Z,1628859563.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:23.690Z,1628859563.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34D,000,003DF,189,80,80,5C,FF 2021-08-13T12:59:23.690Z,1628859563.690 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:23.709Z,1628859563.709 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:24.151Z,1628859564.151 [Micromodem](INFO): Nmea in: $SNTTA,0.059905,,,,125924.41*4C 2021-08-13T12:59:24.223Z,1628859564.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 93.810237 deg, deltaT: 4.028916 s, approachRate: -0.014893 m/s, LOS rate: -0.261968 deg/s, posRepo size: 4 2021-08-13T12:59:26.550Z,1628859566.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:27.113Z,1628859567.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:27.113Z,1628859567.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:27.113Z,1628859567.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:27.114Z,1628859567.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:27.349Z,1628859567.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 34D,000,003DF,189,80,80,5C,FF 2021-08-13T12:59:27.349Z,1628859567.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:27.349Z,1628859567.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:27.351Z,1628859567.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:27.752Z,1628859567.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:28.177Z,1628859568.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,003DE,189,80,80,8F,FF 2021-08-13T12:59:28.178Z,1628859568.178 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:28.261Z,1628859568.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:28.565Z,1628859568.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125928.88*5B 2021-08-13T12:59:28.588Z,1628859568.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 90.716619 deg, deltaT: 4.551792 s, approachRate: -0.013181 m/s, LOS rate: -0.679648 deg/s, posRepo size: 4 2021-08-13T12:59:31.041Z,1628859571.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:31.361Z,1628859571.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:31.361Z,1628859571.361 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:31.361Z,1628859571.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:31.362Z,1628859571.362 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:31.765Z,1628859571.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 373,000,003DE,189,80,80,8F,FF 2021-08-13T12:59:31.765Z,1628859571.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:31.765Z,1628859571.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:31.767Z,1628859571.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:32.201Z,1628859572.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:32.573Z,1628859572.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003EB,189,80,80,9C,FF 2021-08-13T12:59:32.573Z,1628859572.573 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:32.623Z,1628859572.623 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:33.037Z,1628859573.037 [Micromodem](INFO): Nmea in: $SNTTA,0.043047,,,,125933.29*40 2021-08-13T12:59:33.078Z,1628859573.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 98.333803 deg, deltaT: 4.363211 s, approachRate: 0.178767 m/s, LOS rate: 1.745775 deg/s, posRepo size: 4 2021-08-13T12:59:35.427Z,1628859575.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:35.809Z,1628859575.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:35.809Z,1628859575.809 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:35.809Z,1628859575.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:35.810Z,1628859575.810 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:36.209Z,1628859576.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2C9,000,003EB,189,80,80,9C,FF 2021-08-13T12:59:36.209Z,1628859576.209 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:36.209Z,1628859576.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:36.211Z,1628859576.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:36.621Z,1628859576.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:37.037Z,1628859577.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,003DB,189,80,80,B8,FF 2021-08-13T12:59:37.038Z,1628859577.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:37.100Z,1628859577.100 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:37.461Z,1628859577.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125937.73*51 2021-08-13T12:59:37.484Z,1628859577.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 93.730263 deg, deltaT: 4.476070 s, approachRate: -0.214473 m/s, LOS rate: -1.028478 deg/s, posRepo size: 4 2021-08-13T12:59:39.899Z,1628859579.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:40.380Z,1628859580.380 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:40.380Z,1628859580.380 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:40.380Z,1628859580.380 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:40.381Z,1628859580.381 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:40.673Z,1628859580.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 316,000,003DB,189,80,80,B8,FF 2021-08-13T12:59:40.673Z,1628859580.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:40.673Z,1628859580.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:40.675Z,1628859580.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:41.082Z,1628859581.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:41.489Z,1628859581.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,003D9,189,80,80,BA,FF 2021-08-13T12:59:41.490Z,1628859581.490 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:41.510Z,1628859581.510 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:41.913Z,1628859581.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125942.20*55 2021-08-13T12:59:41.938Z,1628859581.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 93.502995 deg, deltaT: 4.409336 s, approachRate: -0.027215 m/s, LOS rate: -0.051542 deg/s, posRepo size: 4 2021-08-13T12:59:44.346Z,1628859584.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:44.697Z,1628859584.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:44.697Z,1628859584.697 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:44.697Z,1628859584.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:44.698Z,1628859584.698 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:45.109Z,1628859585.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 30A,000,003D9,189,80,80,BA,FF 2021-08-13T12:59:45.109Z,1628859585.109 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:45.109Z,1628859585.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:45.111Z,1628859585.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:45.505Z,1628859585.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:45.917Z,1628859585.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,003D7,189,80,80,7E,FF 2021-08-13T12:59:45.917Z,1628859585.917 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:45.965Z,1628859585.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:46.345Z,1628859586.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125946.64*51 2021-08-13T12:59:46.403Z,1628859586.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 98.208688 deg, deltaT: 4.455834 s, approachRate: -0.026931 m/s, LOS rate: 1.056075 deg/s, posRepo size: 4 2021-08-13T12:59:48.774Z,1628859588.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:49.134Z,1628859589.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:49.134Z,1628859589.134 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:49.135Z,1628859589.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:49.136Z,1628859589.136 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:49.545Z,1628859589.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A1,000,003D7,189,80,80,7E,FF 2021-08-13T12:59:49.545Z,1628859589.545 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:49.545Z,1628859589.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:49.547Z,1628859589.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:49.982Z,1628859589.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:50.349Z,1628859590.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,003D6,189,80,80,9D,FF 2021-08-13T12:59:50.350Z,1628859590.350 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:50.411Z,1628859590.411 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:50.796Z,1628859590.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125951.07*52 2021-08-13T12:59:50.816Z,1628859590.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 102.315325 deg, deltaT: 4.446403 s, approachRate: -0.013494 m/s, LOS rate: 0.923587 deg/s, posRepo size: 4 2021-08-13T12:59:53.288Z,1628859593.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:53.653Z,1628859593.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:53.653Z,1628859593.653 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:53.653Z,1628859593.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:53.654Z,1628859593.654 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:54.049Z,1628859594.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 243,000,003D6,189,80,80,9D,FF 2021-08-13T12:59:54.049Z,1628859594.049 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:54.049Z,1628859594.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:54.051Z,1628859594.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:54.440Z,1628859594.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:54.841Z,1628859594.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,003D5,189,80,80,90,FF 2021-08-13T12:59:54.841Z,1628859594.841 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:54.861Z,1628859594.861 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:55.235Z,1628859595.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125955.58*5C 2021-08-13T12:59:55.284Z,1628859595.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 101.614534 deg, deltaT: 4.448958 s, approachRate: -0.013487 m/s, LOS rate: -0.157518 deg/s, posRepo size: 4 2021-08-13T12:59:57.695Z,1628859597.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T12:59:58.072Z,1628859598.072 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T12:59:58.073Z,1628859598.073 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T12:59:58.073Z,1628859598.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T12:59:58.074Z,1628859598.074 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T12:59:58.465Z,1628859598.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 24E,000,003D5,189,80,80,90,FF 2021-08-13T12:59:58.465Z,1628859598.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T12:59:58.465Z,1628859598.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T12:59:58.467Z,1628859598.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T12:59:58.875Z,1628859598.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T12:59:59.274Z,1628859599.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,003D5,185,80,80,92,FF 2021-08-13T12:59:59.274Z,1628859599.274 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T12:59:59.303Z,1628859599.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T12:59:59.709Z,1628859599.709 [Micromodem](INFO): Nmea in: $SNTTA,0.037288,,,,125959.99*45 2021-08-13T12:59:59.757Z,1628859599.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 109.844270 deg, deltaT: 4.442778 s, approachRate: 0.000000 m/s, LOS rate: 1.852385 deg/s, posRepo size: 4 2021-08-13T13:00:02.195Z,1628859602.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:02.493Z,1628859602.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:02.493Z,1628859602.493 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:02.493Z,1628859602.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:02.494Z,1628859602.494 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:02.910Z,1628859602.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 19A,000,003D5,185,80,80,92,FF 2021-08-13T13:00:02.910Z,1628859602.910 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:02.910Z,1628859602.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:02.913Z,1628859602.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:03.309Z,1628859603.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:04.162Z,1628859604.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130004.44*58 2021-08-13T13:00:04.927Z,1628859604.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,03755,185,80,80,58,FF 2021-08-13T13:00:04.929Z,1628859604.929 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:04.996Z,1628859604.996 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:05.375Z,1628859605.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 812.400085 m, bearing: 131.844712 deg, deltaT: 5.692814 s, approachRate: 138.954147 m/s, LOS rate: 3.864599 deg/s, posRepo size: 4 2021-08-13T13:00:05.376Z,1628859605.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 812.40 m. Resuming terminal guidance. 2021-08-13T13:00:05.376Z,1628859605.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:00:05.765Z,1628859605.765 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:00:05.765Z,1628859605.765 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:00:05.766Z,1628859605.766 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:00:05.766Z,1628859605.766 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:00:05.766Z,1628859605.766 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:00:05.767Z,1628859605.767 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:00:05.769Z,1628859605.769 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:00:05.770Z,1628859605.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:00:05.770Z,1628859605.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:00:05.770Z,1628859605.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:00:05.770Z,1628859605.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:00:05.770Z,1628859605.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:00:05.770Z,1628859605.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:00:06.233Z,1628859606.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:00:06.233Z,1628859606.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:00:06.233Z,1628859606.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:00:06.233Z,1628859606.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:00:07.566Z,1628859607.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:07.954Z,1628859607.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:07.954Z,1628859607.954 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:07.955Z,1628859607.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:07.957Z,1628859607.957 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:08.333Z,1628859608.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDD,000,03755,185,80,80,58,FF 2021-08-13T13:00:08.333Z,1628859608.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:08.333Z,1628859608.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:08.335Z,1628859608.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:08.745Z,1628859608.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:09.129Z,1628859609.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,003DA,187,80,80,73,FF 2021-08-13T13:00:09.129Z,1628859609.129 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:09.601Z,1628859609.601 [Micromodem](INFO): Nmea in: $SNTTA,0.053167,,,,130009.86*43 2021-08-13T13:00:09.623Z,1628859609.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 139.262639 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:00:09.624Z,1628859609.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.66 m. 2021-08-13T13:00:09.625Z,1628859609.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 139.262639deg and heading rate command to 0 deg/s. 2021-08-13T13:00:10.075Z,1628859610.075 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:00:10.176Z,1628859610.176 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:00:10.176Z,1628859610.176 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:00:10.176Z,1628859610.176 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:00:10.177Z,1628859610.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:00:10.178Z,1628859610.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:00:10.178Z,1628859610.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:00:10.510Z,1628859610.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:00:10.510Z,1628859610.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:00:10.510Z,1628859610.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:00:10.510Z,1628859610.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:00:11.236Z,1628859611.236 [DDM](ERROR): Could not parse whisker state 2021-08-13T13:00:11.699Z,1628859611.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:12.049Z,1628859612.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:12.049Z,1628859612.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:12.049Z,1628859612.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:12.050Z,1628859612.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:12.453Z,1628859612.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F45,000,003DA,187,80,80,73,FF 2021-08-13T13:00:12.453Z,1628859612.453 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:12.453Z,1628859612.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:12.455Z,1628859612.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:12.856Z,1628859612.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:13.253Z,1628859613.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,003E5,187,80,80,2E,FF 2021-08-13T13:00:13.253Z,1628859613.253 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:13.326Z,1628859613.326 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:13.701Z,1628859613.701 [Micromodem](INFO): Nmea in: $SNTTA,0.022820,,,,130013.98*4B 2021-08-13T13:00:13.720Z,1628859613.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 143.706388 deg, deltaT: 4.142245 s, approachRate: 0.159334 m/s, LOS rate: 1.072787 deg/s, posRepo size: 2 2021-08-13T13:00:13.721Z,1628859613.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.32 m. 2021-08-13T13:00:13.723Z,1628859613.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.320000 m, bearing: 143.706388 deg, approachRate: 0.159334 m/s, LOS rate: 1.072787 deg/s, cmd update: 3.218362 deg/s, cmd heading: 139.262639 deg, new cmd heading: 139.262639 deg. 2021-08-13T13:00:16.174Z,1628859616.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:16.489Z,1628859616.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:16.489Z,1628859616.489 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:16.489Z,1628859616.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:16.490Z,1628859616.490 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:16.904Z,1628859616.904 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F40,000,003E5,187,80,80,2E,FF 2021-08-13T13:00:16.904Z,1628859616.904 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:16.904Z,1628859616.904 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:16.906Z,1628859616.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:17.297Z,1628859617.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:17.725Z,1628859617.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,003F5,186,80,80,49,FF 2021-08-13T13:00:17.726Z,1628859617.726 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:17.783Z,1628859617.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:18.204Z,1628859618.204 [DDM](ERROR): Could not parse whisker state 2021-08-13T13:00:18.221Z,1628859618.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130018.43*52 2021-08-13T13:00:18.300Z,1628859618.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 153.007589 deg, deltaT: 4.456736 s, approachRate: 0.215404 m/s, LOS rate: 2.086998 deg/s, posRepo size: 3 2021-08-13T13:00:18.301Z,1628859618.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.28 m. 2021-08-13T13:00:18.303Z,1628859618.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.280001 m, bearing: 153.007589 deg, approachRate: 0.215404 m/s, LOS rate: 2.086998 deg/s, cmd update: 6.260995 deg/s, cmd heading: 153.593233 deg, new cmd heading: 155.268497 deg. 2021-08-13T13:00:20.672Z,1628859620.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:20.972Z,1628859620.972 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:20.972Z,1628859620.972 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:20.973Z,1628859620.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:20.974Z,1628859620.974 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:21.364Z,1628859621.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ECD,000,003F5,186,80,80,49,FF 2021-08-13T13:00:21.365Z,1628859621.365 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:21.365Z,1628859621.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:21.367Z,1628859621.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:21.777Z,1628859621.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:22.185Z,1628859622.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00420,185,80,80,37,FF 2021-08-13T13:00:22.185Z,1628859622.185 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:22.280Z,1628859622.280 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:22.567Z,1628859622.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130022.89*5D 2021-08-13T13:00:22.604Z,1628859622.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 145.352300 deg, deltaT: 4.497494 s, approachRate: 0.573653 m/s, LOS rate: -1.702123 deg/s, posRepo size: 4 2021-08-13T13:00:22.605Z,1628859622.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.86 m. 2021-08-13T13:00:22.607Z,1628859622.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.860001 m, bearing: 145.352300 deg, approachRate: 0.573653 m/s, LOS rate: -1.702123 deg/s, cmd update: -5.106370 deg/s, cmd heading: 181.724913 deg, new cmd heading: 183.800289 deg. 2021-08-13T13:00:25.032Z,1628859625.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:25.381Z,1628859625.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:25.381Z,1628859625.381 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:25.381Z,1628859625.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:25.382Z,1628859625.382 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:25.793Z,1628859625.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03C,000,00420,185,80,80,37,FF 2021-08-13T13:00:25.793Z,1628859625.793 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:25.793Z,1628859625.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:25.795Z,1628859625.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:26.204Z,1628859626.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:26.597Z,1628859626.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00441,186,80,80,AD,FF 2021-08-13T13:00:26.597Z,1628859626.597 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:26.623Z,1628859626.623 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:27.049Z,1628859627.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130027.32*58 2021-08-13T13:00:27.095Z,1628859627.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 187.627919 deg, deltaT: 4.342640 s, approachRate: 0.455943 m/s, LOS rate: 9.735005 deg/s, posRepo size: 4 2021-08-13T13:00:27.095Z,1628859627.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.84 m. 2021-08-13T13:00:27.096Z,1628859627.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.84 m. 2021-08-13T13:00:27.096Z,1628859627.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:00:27.098Z,1628859627.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.839996 m, bearing: 187.627919 deg, approachRate: 0.455943 m/s, LOS rate: 9.735005 deg/s, cmd update: 12.000000 deg/s, cmd heading: 159.505967 deg, new cmd heading: 157.079844 deg. 2021-08-13T13:00:29.455Z,1628859629.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:29.837Z,1628859629.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:29.837Z,1628859629.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:29.837Z,1628859629.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:29.838Z,1628859629.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:30.233Z,1628859630.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E2F,000,00441,186,80,80,AD,FF 2021-08-13T13:00:30.233Z,1628859630.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:30.233Z,1628859630.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:30.235Z,1628859630.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:30.645Z,1628859630.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:31.033Z,1628859631.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,0046C,186,80,80,40,FF 2021-08-13T13:00:31.033Z,1628859631.033 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:31.084Z,1628859631.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:31.485Z,1628859631.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130031.76*5F 2021-08-13T13:00:31.508Z,1628859631.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 156.433489 deg, deltaT: 4.461467 s, approachRate: 0.578285 m/s, LOS rate: -6.991967 deg/s, posRepo size: 4 2021-08-13T13:00:31.509Z,1628859631.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 30.42 m. Rolling out. 2021-08-13T13:00:31.509Z,1628859631.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:00:31.895Z,1628859631.895 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:00:31.895Z,1628859631.895 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:00:31.896Z,1628859631.896 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:00:31.896Z,1628859631.896 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:00:31.896Z,1628859631.896 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:00:31.896Z,1628859631.896 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:00:31.896Z,1628859631.896 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:00:33.997Z,1628859633.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:34.373Z,1628859634.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:34.373Z,1628859634.373 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:34.373Z,1628859634.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:34.374Z,1628859634.374 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:34.709Z,1628859634.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0D6,000,0046C,186,80,80,40,FF 2021-08-13T13:00:34.709Z,1628859634.709 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:34.709Z,1628859634.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:34.711Z,1628859634.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:35.100Z,1628859635.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:35.585Z,1628859635.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,00492,187,80,80,2E,FF 2021-08-13T13:00:35.585Z,1628859635.585 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:35.627Z,1628859635.627 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:35.903Z,1628859635.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130036.23*58 2021-08-13T13:00:35.951Z,1628859635.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 156.702530 deg, deltaT: 4.543006 s, approachRate: 0.501871 m/s, LOS rate: 0.059221 deg/s, posRepo size: 4 2021-08-13T13:00:38.401Z,1628859638.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:38.719Z,1628859638.719 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:38.719Z,1628859638.719 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:38.719Z,1628859638.719 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:38.740Z,1628859638.740 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:39.141Z,1628859639.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0D3,000,00492,187,80,80,2E,FF 2021-08-13T13:00:39.141Z,1628859639.141 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:39.142Z,1628859639.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:39.143Z,1628859639.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:39.541Z,1628859639.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:39.949Z,1628859639.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,004A6,186,80,80,A3,FF 2021-08-13T13:00:39.950Z,1628859639.950 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:40.011Z,1628859640.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:40.365Z,1628859640.365 [Micromodem](INFO): Nmea in: $SNTTA,0.044521,,,,130040.67*41 2021-08-13T13:00:40.439Z,1628859640.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 185.750232 deg, deltaT: 4.383931 s, approachRate: 0.273728 m/s, LOS rate: 6.625949 deg/s, posRepo size: 4 2021-08-13T13:00:42.808Z,1628859642.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:43.157Z,1628859643.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:43.157Z,1628859643.157 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:43.157Z,1628859643.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:43.158Z,1628859643.158 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:43.569Z,1628859643.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F43,000,004A6,186,80,80,A3,FF 2021-08-13T13:00:43.569Z,1628859643.569 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:43.570Z,1628859643.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:43.572Z,1628859643.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:43.994Z,1628859643.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:44.371Z,1628859644.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,004B3,186,80,80,9B,FF 2021-08-13T13:00:44.372Z,1628859644.372 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:44.476Z,1628859644.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:44.809Z,1628859644.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130045.10*5C 2021-08-13T13:00:44.843Z,1628859644.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 199.529046 deg, deltaT: 4.464789 s, approachRate: 0.174700 m/s, LOS rate: 3.086106 deg/s, posRepo size: 4 2021-08-13T13:00:47.298Z,1628859647.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:47.718Z,1628859647.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:47.718Z,1628859647.718 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:47.718Z,1628859647.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:47.719Z,1628859647.719 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:48.069Z,1628859648.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB8,000,004B3,186,80,80,9B,FF 2021-08-13T13:00:48.069Z,1628859648.069 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:48.069Z,1628859648.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:48.071Z,1628859648.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:48.474Z,1628859648.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:48.857Z,1628859648.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,004BF,187,80,80,98,FF 2021-08-13T13:00:48.858Z,1628859648.858 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:48.885Z,1628859648.885 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:49.267Z,1628859649.267 [Micromodem](INFO): Nmea in: $SNTTA,0.045646,,,,130049.59*46 2021-08-13T13:00:49.342Z,1628859649.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 214.445168 deg, deltaT: 4.409094 s, approachRate: 0.163298 m/s, LOS rate: 3.383036 deg/s, posRepo size: 4 2021-08-13T13:00:51.711Z,1628859651.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:52.079Z,1628859652.079 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:52.079Z,1628859652.079 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:52.079Z,1628859652.079 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:52.080Z,1628859652.080 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:52.485Z,1628859652.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E20,000,004BF,187,80,80,98,FF 2021-08-13T13:00:52.485Z,1628859652.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:52.485Z,1628859652.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:52.487Z,1628859652.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:52.906Z,1628859652.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:53.289Z,1628859653.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,004C7,184,80,80,67,FF 2021-08-13T13:00:53.289Z,1628859653.289 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:53.405Z,1628859653.405 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:53.734Z,1628859653.734 [Micromodem](INFO): Nmea in: $SNTTA,0.037411,,,,130054.01*42 2021-08-13T13:00:53.756Z,1628859653.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 193.021610 deg, deltaT: 4.519829 s, approachRate: 0.106199 m/s, LOS rate: -4.739905 deg/s, posRepo size: 4 2021-08-13T13:00:56.208Z,1628859656.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:00:56.517Z,1628859656.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:00:56.517Z,1628859656.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:00:56.517Z,1628859656.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:00:56.518Z,1628859656.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:00:56.942Z,1628859656.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 051,000,004C7,184,80,80,67,FF 2021-08-13T13:00:56.943Z,1628859656.943 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:00:56.943Z,1628859656.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:00:56.948Z,1628859656.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:00:57.333Z,1628859657.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:00:57.761Z,1628859657.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,004CA,186,80,80,9A,FF 2021-08-13T13:00:57.762Z,1628859657.762 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:00:57.817Z,1628859657.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:00:58.205Z,1628859658.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130058.47*52 2021-08-13T13:00:58.307Z,1628859658.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 218.273257 deg, deltaT: 4.412464 s, approachRate: 0.040794 m/s, LOS rate: 5.722800 deg/s, posRepo size: 4 2021-08-13T13:01:00.575Z,1628859660.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:01.065Z,1628859661.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:01.065Z,1628859661.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:01.065Z,1628859661.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:01.066Z,1628859661.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:01.475Z,1628859661.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBA,000,004CA,186,80,80,9A,FF 2021-08-13T13:01:01.475Z,1628859661.475 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:01.476Z,1628859661.476 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:01.478Z,1628859661.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:01.824Z,1628859661.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:02.229Z,1628859662.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,004CC,186,80,80,33,FF 2021-08-13T13:01:02.230Z,1628859662.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:02.319Z,1628859662.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:02.691Z,1628859662.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 224.302224 deg, deltaT: 4.506360 s, approachRate: 0.026629 m/s, LOS rate: 1.337880 deg/s, posRepo size: 4 2021-08-13T13:01:03.041Z,1628859663.041 [Micromodem](INFO): Nmea in: $SNTTA,,0.038788,,,130103.01*4D 2021-08-13T13:01:05.081Z,1628859665.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:05.445Z,1628859665.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:05.445Z,1628859665.445 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:05.445Z,1628859665.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:05.446Z,1628859665.446 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:05.833Z,1628859665.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E81,000,004CC,186,80,80,33,FF 2021-08-13T13:01:05.833Z,1628859665.833 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:05.833Z,1628859665.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:05.835Z,1628859665.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:06.243Z,1628859666.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:06.641Z,1628859666.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,004DF,189,80,80,6B,FF 2021-08-13T13:01:06.641Z,1628859666.641 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:06.685Z,1628859666.685 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:07.088Z,1628859667.088 [Micromodem](INFO): Nmea in: $SNTTA,0.037998,,,,130107.36*4D 2021-08-13T13:01:07.115Z,1628859667.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 239.815919 deg, deltaT: 4.361314 s, approachRate: 0.261390 m/s, LOS rate: 3.557115 deg/s, posRepo size: 4 2021-08-13T13:01:09.502Z,1628859669.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:09.874Z,1628859669.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:09.874Z,1628859669.874 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:09.874Z,1628859669.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:09.875Z,1628859669.875 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:10.281Z,1628859670.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D7E,000,004DF,189,80,80,6B,FF 2021-08-13T13:01:10.281Z,1628859670.281 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:10.281Z,1628859670.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:10.283Z,1628859670.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:10.696Z,1628859670.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:11.085Z,1628859671.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,004D1,188,80,80,9E,FF 2021-08-13T13:01:11.085Z,1628859671.085 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:11.190Z,1628859671.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:11.529Z,1628859671.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130111.81*54 2021-08-13T13:01:11.568Z,1628859671.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 247.431744 deg, deltaT: 4.504596 s, approachRate: -0.186477 m/s, LOS rate: 1.690679 deg/s, posRepo size: 4 2021-08-13T13:01:14.064Z,1628859674.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:14.417Z,1628859674.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:14.417Z,1628859674.417 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:14.417Z,1628859674.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:14.418Z,1628859674.418 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:14.841Z,1628859674.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CFD,000,004D1,188,80,80,9E,FF 2021-08-13T13:01:14.842Z,1628859674.842 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:14.842Z,1628859674.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:14.843Z,1628859674.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:15.233Z,1628859675.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:15.617Z,1628859675.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C85,000,004D9,18A,80,80,73,FF 2021-08-13T13:01:15.618Z,1628859675.618 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:15.637Z,1628859675.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:16.057Z,1628859676.057 [Micromodem](INFO): Nmea in: $SNTTA,,0.039174,,,130116.37*48 2021-08-13T13:01:16.163Z,1628859676.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.959999 m, bearing: 254.678192 deg, deltaT: 4.447476 s, approachRate: 0.107926 m/s, LOS rate: 1.629339 deg/s, posRepo size: 4 2021-08-13T13:01:18.471Z,1628859678.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:18.846Z,1628859678.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:18.846Z,1628859678.846 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:18.846Z,1628859678.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:18.847Z,1628859678.847 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:19.241Z,1628859679.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C85,000,004D9,18A,80,80,73,FF 2021-08-13T13:01:19.241Z,1628859679.241 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:19.242Z,1628859679.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:19.243Z,1628859679.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:19.649Z,1628859679.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:20.045Z,1628859680.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C94,000,004DA,189,80,80,34,FF 2021-08-13T13:01:20.046Z,1628859680.046 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:20.145Z,1628859680.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:20.498Z,1628859680.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130120.77*5F 2021-08-13T13:01:20.534Z,1628859680.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 254.655434 deg, deltaT: 4.508572 s, approachRate: 0.013307 m/s, LOS rate: -0.005048 deg/s, posRepo size: 4 2021-08-13T13:01:22.916Z,1628859682.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:23.281Z,1628859683.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:23.281Z,1628859683.281 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:23.281Z,1628859683.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:23.282Z,1628859683.282 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:23.686Z,1628859683.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C94,000,004DA,189,80,80,34,FF 2021-08-13T13:01:23.686Z,1628859683.686 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:23.686Z,1628859683.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:23.687Z,1628859683.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:24.133Z,1628859684.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:24.505Z,1628859684.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2B,000,004D6,189,80,80,6F,FF 2021-08-13T13:01:24.506Z,1628859684.506 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:24.549Z,1628859684.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:24.962Z,1628859684.962 [Micromodem](INFO): Nmea in: $SNTTA,0.024152,,,,130125.21*47 2021-08-13T13:01:25.021Z,1628859685.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 260.700698 deg, deltaT: 4.403511 s, approachRate: -0.054501 m/s, LOS rate: 1.372828 deg/s, posRepo size: 4 2021-08-13T13:01:27.425Z,1628859687.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:27.747Z,1628859687.747 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:27.747Z,1628859687.747 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:27.752Z,1628859687.752 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:27.753Z,1628859687.753 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:28.245Z,1628859688.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C2B,000,004D6,189,80,80,6F,FF 2021-08-13T13:01:28.245Z,1628859688.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:28.245Z,1628859688.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:28.247Z,1628859688.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:28.641Z,1628859688.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:29.037Z,1628859689.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A2,000,004DA,189,80,80,42,FF 2021-08-13T13:01:29.038Z,1628859689.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:29.068Z,1628859689.068 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:29.435Z,1628859689.435 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130129.77*56 2021-08-13T13:01:29.478Z,1628859689.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 165.674626 deg, deltaT: 4.518784 s, approachRate: 0.053111 m/s, LOS rate: -21.029125 deg/s, posRepo size: 4 2021-08-13T13:01:31.883Z,1628859691.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:32.237Z,1628859692.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:32.237Z,1628859692.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:32.237Z,1628859692.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:32.238Z,1628859692.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:32.641Z,1628859692.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3A2,000,004DA,189,80,80,42,FF 2021-08-13T13:01:32.641Z,1628859692.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:32.641Z,1628859692.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:32.643Z,1628859692.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:33.072Z,1628859693.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:33.877Z,1628859693.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130134.17*5C 2021-08-13T13:01:34.714Z,1628859694.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:36.306Z,1628859696.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,097A8,189,80,80,42,FF 2021-08-13T13:01:36.306Z,1628859696.306 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:36.403Z,1628859696.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:36.749Z,1628859696.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2291.940186 m, bearing: 178.339176 deg, deltaT: 7.335920 s, approachRate: 307.380707 m/s, LOS rate: 1.726375 deg/s, posRepo size: 4 2021-08-13T13:01:36.749Z,1628859696.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2291.94 m. Resuming terminal guidance. 2021-08-13T13:01:36.750Z,1628859696.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:01:37.160Z,1628859697.160 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:01:37.160Z,1628859697.160 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:01:37.161Z,1628859697.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:01:37.161Z,1628859697.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:01:37.161Z,1628859697.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:01:37.161Z,1628859697.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:01:37.168Z,1628859697.168 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:01:37.168Z,1628859697.168 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:01:37.168Z,1628859697.168 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:01:37.168Z,1628859697.168 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:01:37.169Z,1628859697.169 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:01:37.169Z,1628859697.169 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:01:37.169Z,1628859697.169 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:01:37.542Z,1628859697.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:01:37.542Z,1628859697.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:01:37.542Z,1628859697.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:01:37.542Z,1628859697.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:01:39.209Z,1628859699.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:39.558Z,1628859699.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:39.558Z,1628859699.558 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:39.558Z,1628859699.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:39.559Z,1628859699.559 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:39.958Z,1628859699.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B0,000,097A8,189,80,80,42,FF 2021-08-13T13:01:39.959Z,1628859699.959 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:39.959Z,1628859699.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:39.982Z,1628859699.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:40.380Z,1628859700.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:40.769Z,1628859700.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,004D6,189,80,80,8B,FF 2021-08-13T13:01:40.770Z,1628859700.770 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:41.293Z,1628859701.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130141.51*5C 2021-08-13T13:01:41.332Z,1628859701.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 178.330338 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:01:41.333Z,1628859701.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m. 2021-08-13T13:01:41.334Z,1628859701.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 178.330338deg and heading rate command to 0 deg/s. 2021-08-13T13:01:41.650Z,1628859701.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:01:41.650Z,1628859701.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:01:41.650Z,1628859701.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:01:41.651Z,1628859701.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:01:41.651Z,1628859701.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:01:41.651Z,1628859701.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:01:42.234Z,1628859702.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:01:42.235Z,1628859702.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:01:42.235Z,1628859702.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:01:42.235Z,1628859702.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:01:43.471Z,1628859703.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:43.814Z,1628859703.814 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:43.814Z,1628859703.814 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:43.815Z,1628859703.815 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:43.816Z,1628859703.816 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:44.221Z,1628859704.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B5,000,004D6,189,80,80,8B,FF 2021-08-13T13:01:44.221Z,1628859704.221 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:44.221Z,1628859704.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:44.223Z,1628859704.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:44.243Z,1628859704.243 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:01:44.640Z,1628859704.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:45.101Z,1628859705.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34D,000,004DA,189,80,80,49,FF 2021-08-13T13:01:45.102Z,1628859705.102 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:45.170Z,1628859705.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:45.478Z,1628859705.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130145.75*5E 2021-08-13T13:01:45.522Z,1628859705.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 171.746254 deg, deltaT: 4.347841 s, approachRate: 0.055199 m/s, LOS rate: -1.514334 deg/s, posRepo size: 2 2021-08-13T13:01:45.522Z,1628859705.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.02 m. 2021-08-13T13:01:45.524Z,1628859705.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.019997 m, bearing: 171.746254 deg, approachRate: 0.055199 m/s, LOS rate: -1.514334 deg/s, cmd update: -4.543002 deg/s, cmd heading: 178.330338 deg, new cmd heading: 178.330338 deg. 2021-08-13T13:01:45.850Z,1628859705.850 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:01:47.956Z,1628859707.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:48.305Z,1628859708.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:48.305Z,1628859708.305 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:48.305Z,1628859708.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:48.306Z,1628859708.306 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:48.708Z,1628859708.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 34D,000,004DA,189,80,80,49,FF 2021-08-13T13:01:48.708Z,1628859708.708 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:48.708Z,1628859708.708 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:48.710Z,1628859708.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:49.127Z,1628859709.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:49.526Z,1628859709.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,004E5,186,80,80,5D,FF 2021-08-13T13:01:49.527Z,1628859709.527 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:49.583Z,1628859709.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:49.985Z,1628859709.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130150.23*59 2021-08-13T13:01:50.035Z,1628859710.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 224.021681 deg, deltaT: 4.412813 s, approachRate: 0.149565 m/s, LOS rate: 11.846282 deg/s, posRepo size: 3 2021-08-13T13:01:50.040Z,1628859710.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.68 m. 2021-08-13T13:01:50.041Z,1628859710.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.846282 deg/s. Setting heading cmd to target bearing of 224.021681deg and heading rate command to 0 deg/s. 2021-08-13T13:01:52.399Z,1628859712.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:52.771Z,1628859712.771 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:52.772Z,1628859712.772 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:52.773Z,1628859712.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:52.774Z,1628859712.774 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:53.165Z,1628859713.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E6D,000,004E5,186,80,80,5D,FF 2021-08-13T13:01:53.165Z,1628859713.165 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:53.165Z,1628859713.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:53.167Z,1628859713.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:53.593Z,1628859713.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:54.069Z,1628859714.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00503,187,80,80,40,FF 2021-08-13T13:01:54.069Z,1628859714.069 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:54.174Z,1628859714.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:54.517Z,1628859714.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130154.69*53 2021-08-13T13:01:54.570Z,1628859714.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 207.229715 deg, deltaT: 4.591324 s, approachRate: 0.392044 m/s, LOS rate: -3.657325 deg/s, posRepo size: 4 2021-08-13T13:01:54.570Z,1628859714.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m. 2021-08-13T13:01:54.571Z,1628859714.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.48 m. 2021-08-13T13:01:54.571Z,1628859714.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:01:54.573Z,1628859714.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.480003 m, bearing: 207.229715 deg, approachRate: 0.392044 m/s, LOS rate: -3.657325 deg/s, cmd update: -10.971975 deg/s, cmd heading: 224.021681 deg, new cmd heading: 224.021681 deg. 2021-08-13T13:01:56.829Z,1628859716.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:01:57.221Z,1628859717.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:01:57.221Z,1628859717.221 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:01:57.221Z,1628859717.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:01:57.222Z,1628859717.222 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:01:57.609Z,1628859717.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7C,000,00503,187,80,80,40,FF 2021-08-13T13:01:57.609Z,1628859717.609 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:01:57.609Z,1628859717.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:01:57.611Z,1628859717.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:01:58.037Z,1628859718.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:01:58.425Z,1628859718.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA5,000,0051A,186,80,80,68,FF 2021-08-13T13:01:58.426Z,1628859718.426 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:01:58.541Z,1628859718.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:01:58.861Z,1628859718.861 [Micromodem](INFO): Nmea in: $SNTTA,0.048047,,,,130159.13*42 2021-08-13T13:01:58.914Z,1628859718.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 199.549714 deg, deltaT: 4.366300 s, approachRate: 0.316056 m/s, LOS rate: -1.758927 deg/s, posRepo size: 4 2021-08-13T13:01:58.916Z,1628859718.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.859997 m, bearing: 199.549714 deg, approachRate: 0.316056 m/s, LOS rate: -1.758927 deg/s, cmd update: -5.276780 deg/s, cmd heading: 176.032676 deg, new cmd heading: 171.894497 deg. 2021-08-13T13:01:59.291Z,1628859719.291 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:01:59.291Z,1628859719.291 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:01:59.293Z,1628859719.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:01:59.295Z,1628859719.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:01:59.295Z,1628859719.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:01:59.295Z,1628859719.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:01:59.665Z,1628859719.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:01:59.666Z,1628859719.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:01:59.666Z,1628859719.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:01:59.666Z,1628859719.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:02:01.279Z,1628859721.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:01.666Z,1628859721.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:01.666Z,1628859721.666 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:01.666Z,1628859721.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:01.667Z,1628859721.667 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:02.049Z,1628859722.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA5,000,0051A,186,80,80,68,FF 2021-08-13T13:02:02.050Z,1628859722.050 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:02.050Z,1628859722.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:02.051Z,1628859722.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:02.465Z,1628859722.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:02.868Z,1628859722.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,0053E,186,80,80,47,FF 2021-08-13T13:02:02.869Z,1628859722.869 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:03.305Z,1628859723.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130203.57*5F 2021-08-13T13:02:03.358Z,1628859723.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 212.080242 deg, deltaT: 4.360293 s, approachRate: 0.495380 m/s, LOS rate: 2.873781 deg/s, posRepo size: 4 2021-08-13T13:02:03.365Z,1628859723.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.019997 m, bearing: 212.080242 deg, approachRate: 0.495380 m/s, LOS rate: 2.873781 deg/s, cmd update: 8.621344 deg/s, cmd heading: 153.033788 deg, new cmd heading: 150.604992 deg. 2021-08-13T13:02:05.776Z,1628859725.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:06.096Z,1628859726.096 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:06.097Z,1628859726.097 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:06.097Z,1628859726.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:06.099Z,1628859726.099 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:06.497Z,1628859726.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E73,000,0053E,186,80,80,47,FF 2021-08-13T13:02:06.497Z,1628859726.497 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:06.497Z,1628859726.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:06.499Z,1628859726.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:06.912Z,1628859726.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:07.301Z,1628859727.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00563,186,80,80,32,FF 2021-08-13T13:02:07.302Z,1628859727.302 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:07.829Z,1628859727.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130208.02*54 2021-08-13T13:02:07.852Z,1628859727.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 192.835734 deg, deltaT: 4.431017 s, approachRate: 0.501015 m/s, LOS rate: -4.343136 deg/s, posRepo size: 4 2021-08-13T13:02:07.852Z,1628859727.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 45.24 m. Rolling out. 2021-08-13T13:02:07.853Z,1628859727.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:02:08.257Z,1628859728.257 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:02:08.258Z,1628859728.258 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:02:08.258Z,1628859728.258 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:02:08.258Z,1628859728.258 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:02:08.258Z,1628859728.258 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:02:08.258Z,1628859728.258 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:02:08.259Z,1628859728.259 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:02:10.244Z,1628859730.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:10.569Z,1628859730.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:10.569Z,1628859730.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:10.569Z,1628859730.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:10.570Z,1628859730.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:10.969Z,1628859730.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F47,000,00563,186,80,80,32,FF 2021-08-13T13:02:10.969Z,1628859730.969 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:10.970Z,1628859730.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:10.975Z,1628859730.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:11.354Z,1628859731.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:11.753Z,1628859731.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,00582,186,80,80,76,FF 2021-08-13T13:02:11.754Z,1628859731.754 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:12.209Z,1628859732.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130212.50*58 2021-08-13T13:02:12.272Z,1628859732.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 190.134257 deg, deltaT: 4.462057 s, approachRate: 0.416848 m/s, LOS rate: -0.605433 deg/s, posRepo size: 4 2021-08-13T13:02:14.300Z,1628859734.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:14.589Z,1628859734.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:14.589Z,1628859734.589 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:14.589Z,1628859734.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:14.590Z,1628859734.590 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:15.013Z,1628859735.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EF5,000,00582,186,80,80,76,FF 2021-08-13T13:02:15.013Z,1628859735.013 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:15.014Z,1628859735.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:15.015Z,1628859735.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:15.416Z,1628859735.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:15.817Z,1628859735.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,0059E,186,80,80,8D,FF 2021-08-13T13:02:15.818Z,1628859735.818 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:16.230Z,1628859736.230 [Micromodem](INFO): Nmea in: $SNTTA,0.451913,0.452276,,,130216.54*53 2021-08-13T13:02:16.566Z,1628859736.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 190.384748 deg, deltaT: 4.064240 s, approachRate: 0.413360 m/s, LOS rate: 0.061633 deg/s, posRepo size: 4 2021-08-13T13:02:18.399Z,1628859738.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:18.745Z,1628859738.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:18.745Z,1628859738.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:18.746Z,1628859738.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:18.746Z,1628859738.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:19.129Z,1628859739.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3F,000,0059E,186,80,80,8D,FF 2021-08-13T13:02:19.129Z,1628859739.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:19.129Z,1628859739.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:19.131Z,1628859739.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:19.546Z,1628859739.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:19.944Z,1628859739.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,005AD,189,80,80,65,FF 2021-08-13T13:02:19.946Z,1628859739.946 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:20.439Z,1628859740.439 [Micromodem](INFO): Nmea in: $SNTTA,0.057684,,,,130220.66*4A 2021-08-13T13:02:20.517Z,1628859740.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 156.724004 deg, deltaT: 4.179378 s, approachRate: 0.215343 m/s, LOS rate: -8.054008 deg/s, posRepo size: 4 2021-08-13T13:02:20.719Z,1628859740.719 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-08-13T13:02:20.722Z,1628859740.722 [BPC1](INFO): Received data from all battery sticks. 2021-08-13T13:02:22.831Z,1628859742.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:23.173Z,1628859743.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:23.174Z,1628859743.174 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:23.174Z,1628859743.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:23.175Z,1628859743.175 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:23.573Z,1628859743.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 243,000,005AD,189,80,80,65,FF 2021-08-13T13:02:23.573Z,1628859743.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:23.573Z,1628859743.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:23.575Z,1628859743.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:24.010Z,1628859744.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:24.381Z,1628859744.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,005B8,186,80,80,7E,FF 2021-08-13T13:02:24.382Z,1628859744.382 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:24.825Z,1628859744.825 [Micromodem](INFO): Nmea in: $SNTTA,0.046854,,,,130225.10*4D 2021-08-13T13:02:24.865Z,1628859744.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 201.665338 deg, deltaT: 4.406796 s, approachRate: 0.149769 m/s, LOS rate: 10.198188 deg/s, posRepo size: 4 2021-08-13T13:02:27.253Z,1628859747.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:27.621Z,1628859747.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:27.621Z,1628859747.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:27.621Z,1628859747.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:27.622Z,1628859747.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:28.025Z,1628859748.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDE,000,005B8,186,80,80,7E,FF 2021-08-13T13:02:28.025Z,1628859748.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:28.025Z,1628859748.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:28.027Z,1628859748.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:28.424Z,1628859748.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:28.825Z,1628859748.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,005C1,187,80,80,68,FF 2021-08-13T13:02:28.826Z,1628859748.826 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:29.265Z,1628859749.265 [Micromodem](INFO): Nmea in: $SNTTA,0.048555,,,,130229.55*42 2021-08-13T13:02:29.291Z,1628859749.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 197.757172 deg, deltaT: 4.433007 s, approachRate: 0.121813 m/s, LOS rate: -0.881606 deg/s, posRepo size: 4 2021-08-13T13:02:31.671Z,1628859751.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:32.066Z,1628859752.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:32.066Z,1628859752.066 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:32.066Z,1628859752.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:32.067Z,1628859752.067 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:32.465Z,1628859752.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3D,000,005C1,187,80,80,68,FF 2021-08-13T13:02:32.465Z,1628859752.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:32.466Z,1628859752.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:32.467Z,1628859752.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:32.877Z,1628859752.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:33.265Z,1628859753.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,005C7,186,80,80,96,FF 2021-08-13T13:02:33.266Z,1628859753.266 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:33.709Z,1628859753.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130233.99*5E 2021-08-13T13:02:33.731Z,1628859753.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.240005 m, bearing: 205.381015 deg, deltaT: 4.458905 s, approachRate: 0.080739 m/s, LOS rate: 1.709802 deg/s, posRepo size: 4 2021-08-13T13:02:36.184Z,1628859756.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:36.501Z,1628859756.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:36.501Z,1628859756.501 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:36.501Z,1628859756.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:36.502Z,1628859756.502 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:36.923Z,1628859756.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB3,000,005C7,186,80,80,96,FF 2021-08-13T13:02:36.923Z,1628859756.923 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:36.924Z,1628859756.924 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:36.927Z,1628859756.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:37.312Z,1628859757.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:37.713Z,1628859757.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F34,000,005D1,186,80,80,76,FF 2021-08-13T13:02:37.713Z,1628859757.713 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:38.158Z,1628859758.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130238.45*54 2021-08-13T13:02:38.237Z,1628859758.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 199.461905 deg, deltaT: 4.432002 s, approachRate: 0.135379 m/s, LOS rate: -1.335539 deg/s, posRepo size: 4 2021-08-13T13:02:40.583Z,1628859760.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:40.947Z,1628859760.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:40.948Z,1628859760.948 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:40.949Z,1628859760.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:40.950Z,1628859760.950 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:41.349Z,1628859761.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F34,000,005D1,186,80,80,76,FF 2021-08-13T13:02:41.349Z,1628859761.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:41.349Z,1628859761.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:41.351Z,1628859761.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:41.756Z,1628859761.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:42.197Z,1628859762.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,005D7,186,80,80,92,FF 2021-08-13T13:02:42.198Z,1628859762.198 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:42.589Z,1628859762.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130242.87*57 2021-08-13T13:02:42.632Z,1628859762.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 201.921921 deg, deltaT: 4.516389 s, approachRate: 0.079709 m/s, LOS rate: 0.544686 deg/s, posRepo size: 4 2021-08-13T13:02:45.046Z,1628859765.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:45.389Z,1628859765.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:45.389Z,1628859765.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:45.389Z,1628859765.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:45.390Z,1628859765.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:45.797Z,1628859765.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0A,000,005D7,186,80,80,92,FF 2021-08-13T13:02:45.797Z,1628859765.797 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:45.798Z,1628859765.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:45.799Z,1628859765.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:46.205Z,1628859766.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:46.601Z,1628859766.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,005DF,187,80,80,9E,FF 2021-08-13T13:02:46.602Z,1628859766.602 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:47.045Z,1628859767.045 [Micromodem](INFO): Nmea in: $SNTTA,0.051847,,,,130247.33*4C 2021-08-13T13:02:47.084Z,1628859767.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 206.506180 deg, deltaT: 4.341345 s, approachRate: 0.110566 m/s, LOS rate: 1.055954 deg/s, posRepo size: 4 2021-08-13T13:02:49.450Z,1628859769.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:49.845Z,1628859769.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:49.845Z,1628859769.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:49.845Z,1628859769.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:49.846Z,1628859769.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:50.237Z,1628859770.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EAB,000,005DF,187,80,80,9E,FF 2021-08-13T13:02:50.237Z,1628859770.237 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:50.237Z,1628859770.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:50.239Z,1628859770.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:50.653Z,1628859770.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:51.053Z,1628859771.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,005E1,186,80,80,86,FF 2021-08-13T13:02:51.053Z,1628859771.053 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:51.497Z,1628859771.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130251.76*5B 2021-08-13T13:02:51.531Z,1628859771.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 205.451216 deg, deltaT: 4.477775 s, approachRate: 0.026798 m/s, LOS rate: -0.235600 deg/s, posRepo size: 4 2021-08-13T13:02:53.934Z,1628859773.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:54.285Z,1628859774.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:54.285Z,1628859774.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:54.285Z,1628859774.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:54.286Z,1628859774.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:54.693Z,1628859774.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB8,000,005E1,186,80,80,86,FF 2021-08-13T13:02:54.693Z,1628859774.693 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:54.693Z,1628859774.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:54.694Z,1628859774.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:55.092Z,1628859775.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:55.501Z,1628859775.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDB,000,005E2,186,80,80,85,FF 2021-08-13T13:02:55.502Z,1628859775.502 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:02:55.948Z,1628859775.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130256.22*5D 2021-08-13T13:02:56.006Z,1628859776.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 203.858238 deg, deltaT: 4.451595 s, approachRate: 0.013479 m/s, LOS rate: -0.357844 deg/s, posRepo size: 4 2021-08-13T13:02:58.365Z,1628859778.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:02:58.742Z,1628859778.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:02:58.742Z,1628859778.742 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:02:58.742Z,1628859778.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:02:58.743Z,1628859778.743 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:02:59.133Z,1628859779.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDB,000,005E2,186,80,80,85,FF 2021-08-13T13:02:59.134Z,1628859779.134 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:02:59.134Z,1628859779.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:02:59.135Z,1628859779.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:02:59.539Z,1628859779.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:02:59.949Z,1628859779.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,005E4,186,80,80,8F,FF 2021-08-13T13:02:59.950Z,1628859779.950 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:00.378Z,1628859780.378 [Micromodem](INFO): Nmea in: $SNTTA,0.044367,,,,130300.66*43 2021-08-13T13:03:00.458Z,1628859780.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.980000 m, bearing: 207.455617 deg, deltaT: 4.458619 s, approachRate: 0.026913 m/s, LOS rate: 0.806837 deg/s, posRepo size: 4 2021-08-13T13:03:02.844Z,1628859782.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:03.169Z,1628859783.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:03.169Z,1628859783.169 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:03.169Z,1628859783.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:03.170Z,1628859783.170 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:03.581Z,1628859783.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9F,000,005E4,186,80,80,8F,FF 2021-08-13T13:03:03.581Z,1628859783.581 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:03.582Z,1628859783.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:03.585Z,1628859783.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:04.024Z,1628859784.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:04.381Z,1628859784.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,005E8,186,80,80,95,FF 2021-08-13T13:03:04.381Z,1628859784.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:04.823Z,1628859784.823 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130305.11*5A 2021-08-13T13:03:04.844Z,1628859784.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 207.167820 deg, deltaT: 4.470737 s, approachRate: 0.053683 m/s, LOS rate: -0.064373 deg/s, posRepo size: 4 2021-08-13T13:03:07.261Z,1628859787.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:07.613Z,1628859787.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:07.613Z,1628859787.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:07.614Z,1628859787.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:07.615Z,1628859787.615 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:08.029Z,1628859788.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9E,000,005E8,186,80,80,95,FF 2021-08-13T13:03:08.030Z,1628859788.030 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:08.030Z,1628859788.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:08.031Z,1628859788.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:08.425Z,1628859788.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:08.830Z,1628859788.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,005EA,186,80,80,8D,FF 2021-08-13T13:03:08.830Z,1628859788.830 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:09.261Z,1628859789.261 [Micromodem](INFO): Nmea in: $SNTTA,0.058155,,,,130309.56*47 2021-08-13T13:03:09.318Z,1628859789.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.339996 m, bearing: 207.717063 deg, deltaT: 4.427636 s, approachRate: 0.027101 m/s, LOS rate: 0.124049 deg/s, posRepo size: 4 2021-08-13T13:03:11.694Z,1628859791.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:12.057Z,1628859792.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:12.057Z,1628859792.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:12.057Z,1628859792.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:12.058Z,1628859792.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:12.465Z,1628859792.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E97,000,005EA,186,80,80,8D,FF 2021-08-13T13:03:12.466Z,1628859792.466 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:12.466Z,1628859792.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:12.467Z,1628859792.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:12.899Z,1628859792.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:13.269Z,1628859793.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,005EC,186,80,80,69,FF 2021-08-13T13:03:13.270Z,1628859793.270 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:13.701Z,1628859793.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130313.99*5D 2021-08-13T13:03:13.724Z,1628859793.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 211.779687 deg, deltaT: 4.387337 s, approachRate: 0.027353 m/s, LOS rate: 0.925989 deg/s, posRepo size: 4 2021-08-13T13:03:16.185Z,1628859796.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:16.509Z,1628859796.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:16.509Z,1628859796.509 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:16.509Z,1628859796.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:16.510Z,1628859796.510 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:16.909Z,1628859796.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E51,000,005EC,186,80,80,69,FF 2021-08-13T13:03:16.909Z,1628859796.909 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:16.909Z,1628859796.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:16.911Z,1628859796.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:17.325Z,1628859797.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:17.713Z,1628859797.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,005ED,186,80,80,6E,FF 2021-08-13T13:03:17.713Z,1628859797.713 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:18.169Z,1628859798.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130318.44*56 2021-08-13T13:03:18.269Z,1628859798.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 208.130508 deg, deltaT: 4.452381 s, approachRate: 0.013474 m/s, LOS rate: -0.819602 deg/s, posRepo size: 4 2021-08-13T13:03:20.543Z,1628859800.543 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:03:20.590Z,1628859800.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:20.960Z,1628859800.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:20.960Z,1628859800.960 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:20.961Z,1628859800.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:20.962Z,1628859800.962 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:21.361Z,1628859801.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E99,000,005ED,186,80,80,6E,FF 2021-08-13T13:03:21.361Z,1628859801.361 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:21.361Z,1628859801.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:21.363Z,1628859801.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:21.766Z,1628859801.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:22.193Z,1628859802.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,005F0,186,80,80,62,FF 2021-08-13T13:03:22.194Z,1628859802.194 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:22.597Z,1628859802.597 [Micromodem](INFO): Nmea in: $SNTTA,0.054730,,,,130322.89*45 2021-08-13T13:03:22.612Z,1628859802.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 210.009288 deg, deltaT: 4.587981 s, approachRate: 0.039236 m/s, LOS rate: 0.409500 deg/s, posRepo size: 4 2021-08-13T13:03:25.067Z,1628859805.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:25.397Z,1628859805.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:25.397Z,1628859805.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:25.397Z,1628859805.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:25.398Z,1628859805.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:25.801Z,1628859805.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E75,000,005F0,186,80,80,62,FF 2021-08-13T13:03:25.801Z,1628859805.801 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:25.801Z,1628859805.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:25.803Z,1628859805.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:26.217Z,1628859806.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:26.609Z,1628859806.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,005F0,188,80,80,8B,FF 2021-08-13T13:03:26.610Z,1628859806.610 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:27.073Z,1628859807.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130327.33*5A 2021-08-13T13:03:27.109Z,1628859807.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 216.532023 deg, deltaT: 4.307552 s, approachRate: 0.000000 m/s, LOS rate: 1.514256 deg/s, posRepo size: 4 2021-08-13T13:03:29.454Z,1628859809.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:29.833Z,1628859809.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:29.833Z,1628859809.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:29.833Z,1628859809.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:29.834Z,1628859809.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:30.241Z,1628859810.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF4,000,005F0,188,80,80,8B,FF 2021-08-13T13:03:30.241Z,1628859810.241 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:30.241Z,1628859810.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:30.243Z,1628859810.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:30.649Z,1628859810.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:31.057Z,1628859811.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCC,000,005F0,189,80,80,9F,FF 2021-08-13T13:03:31.057Z,1628859811.057 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:31.485Z,1628859811.485 [Micromodem](INFO): Nmea in: $SNTTA,0.051774,,,,130331.77*43 2021-08-13T13:03:31.508Z,1628859811.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 218.909749 deg, deltaT: 4.438009 s, approachRate: 0.000000 m/s, LOS rate: 0.535764 deg/s, posRepo size: 4 2021-08-13T13:03:33.909Z,1628859813.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:34.277Z,1628859814.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:34.277Z,1628859814.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:34.277Z,1628859814.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:34.278Z,1628859814.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:34.689Z,1628859814.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DCC,000,005F0,189,80,80,9F,FF 2021-08-13T13:03:34.689Z,1628859814.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:34.689Z,1628859814.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:34.691Z,1628859814.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:35.097Z,1628859815.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:35.489Z,1628859815.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,005F2,189,80,80,7B,FF 2021-08-13T13:03:35.489Z,1628859815.489 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:35.934Z,1628859815.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130336.21*59 2021-08-13T13:03:36.001Z,1628859816.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.820000 m, bearing: 223.478421 deg, deltaT: 4.482372 s, approachRate: 0.026770 m/s, LOS rate: 1.019253 deg/s, posRepo size: 4 2021-08-13T13:03:38.404Z,1628859818.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:38.732Z,1628859818.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:38.732Z,1628859818.732 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:38.732Z,1628859818.732 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:38.733Z,1628859818.733 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:39.125Z,1628859819.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D72,000,005F2,189,80,80,7B,FF 2021-08-13T13:03:39.125Z,1628859819.125 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:39.125Z,1628859819.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:39.127Z,1628859819.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:39.538Z,1628859819.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:39.957Z,1628859819.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,005F1,189,80,80,89,FF 2021-08-13T13:03:39.958Z,1628859819.958 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:40.381Z,1628859820.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130340.65*58 2021-08-13T13:03:40.440Z,1628859820.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 226.449253 deg, deltaT: 4.470441 s, approachRate: -0.013423 m/s, LOS rate: 0.664550 deg/s, posRepo size: 4 2021-08-13T13:03:42.786Z,1628859822.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:43.165Z,1628859823.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:43.165Z,1628859823.165 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:43.165Z,1628859823.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:43.166Z,1628859823.166 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:43.182Z,1628859823.182 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:03:43.569Z,1628859823.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D36,000,005F1,189,80,80,89,FF 2021-08-13T13:03:43.569Z,1628859823.569 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:43.569Z,1628859823.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:43.571Z,1628859823.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:43.992Z,1628859823.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:44.392Z,1628859824.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,005F0,189,80,80,79,FF 2021-08-13T13:03:44.393Z,1628859824.393 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:44.825Z,1628859824.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130345.09*57 2021-08-13T13:03:44.848Z,1628859824.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 223.713188 deg, deltaT: 4.391830 s, approachRate: -0.013659 m/s, LOS rate: -0.622990 deg/s, posRepo size: 4 2021-08-13T13:03:47.241Z,1628859827.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:47.617Z,1628859827.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:47.617Z,1628859827.617 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:47.617Z,1628859827.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:47.618Z,1628859827.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:48.029Z,1628859828.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D6C,000,005F0,189,80,80,79,FF 2021-08-13T13:03:48.029Z,1628859828.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:48.029Z,1628859828.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:48.031Z,1628859828.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:48.448Z,1628859828.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:48.847Z,1628859828.847 [Micromodem](INFO): Nmea in: $SNTTA,0.246897,0.246885,,,130349.55*51 2021-08-13T13:03:50.164Z,1628859830.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:51.681Z,1628859831.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 0,189,80,80,79,FF 2021-08-13T13:03:51.681Z,1628859831.681 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 0,189,80,80,79,FF 2021-08-13T13:03:51.681Z,1628859831.681 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:03:52.944Z,1628859832.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:53.294Z,1628859833.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:53.294Z,1628859833.294 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:53.294Z,1628859833.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:53.295Z,1628859833.295 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:53.685Z,1628859833.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 0,189,80,80,79,FF 2021-08-13T13:03:53.685Z,1628859833.685 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:53.685Z,1628859833.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:53.687Z,1628859833.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:54.141Z,1628859834.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:54.502Z,1628859834.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,005EF,189,80,80,95,FF 2021-08-13T13:03:54.502Z,1628859834.502 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:54.949Z,1628859834.949 [Micromodem](INFO): Nmea in: $SNTTA,0.054724,,,,130355.21*42 2021-08-13T13:03:55.006Z,1628859835.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 229.379336 deg, deltaT: 10.090721 s, approachRate: -0.005947 m/s, LOS rate: 0.561521 deg/s, posRepo size: 4 2021-08-13T13:03:57.393Z,1628859837.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:03:57.725Z,1628859837.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:03:57.725Z,1628859837.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:03:57.725Z,1628859837.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:03:57.726Z,1628859837.726 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:03:58.193Z,1628859838.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D00,000,005EF,189,80,80,95,FF 2021-08-13T13:03:58.193Z,1628859838.193 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:03:58.193Z,1628859838.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:03:58.195Z,1628859838.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:03:58.605Z,1628859838.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:03:59.037Z,1628859839.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C23,000,005F4,189,80,80,66,FF 2021-08-13T13:03:59.037Z,1628859839.037 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:03:59.441Z,1628859839.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130359.72*56 2021-08-13T13:03:59.463Z,1628859839.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 240.592594 deg, deltaT: 4.578834 s, approachRate: 0.065518 m/s, LOS rate: 2.448933 deg/s, posRepo size: 4 2021-08-13T13:04:01.850Z,1628859841.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:02.253Z,1628859842.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:02.253Z,1628859842.253 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:02.253Z,1628859842.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:02.254Z,1628859842.254 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:02.641Z,1628859842.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C23,000,005F4,189,80,80,66,FF 2021-08-13T13:04:02.641Z,1628859842.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:02.641Z,1628859842.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:02.643Z,1628859842.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:03.066Z,1628859843.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:03.457Z,1628859843.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,005EC,187,80,80,52,FF 2021-08-13T13:04:03.458Z,1628859843.458 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:03.894Z,1628859843.894 [Micromodem](INFO): Nmea in: $SNTTA,0.057058,,,,130404.17*4B 2021-08-13T13:04:03.944Z,1628859843.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 211.158932 deg, deltaT: 4.376989 s, approachRate: -0.109663 m/s, LOS rate: -6.724637 deg/s, posRepo size: 4 2021-08-13T13:04:06.351Z,1628859846.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:06.686Z,1628859846.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:06.686Z,1628859846.686 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:06.686Z,1628859846.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:06.687Z,1628859846.687 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:07.085Z,1628859847.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E78,000,005EC,187,80,80,52,FF 2021-08-13T13:04:07.086Z,1628859847.086 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:07.086Z,1628859847.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:07.089Z,1628859847.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:07.493Z,1628859847.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:07.942Z,1628859847.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,005EF,186,80,80,46,FF 2021-08-13T13:04:07.943Z,1628859847.943 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:08.333Z,1628859848.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130408.61*57 2021-08-13T13:04:08.389Z,1628859848.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 206.168741 deg, deltaT: 4.562139 s, approachRate: 0.039454 m/s, LOS rate: -1.093827 deg/s, posRepo size: 4 2021-08-13T13:04:10.750Z,1628859850.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:11.121Z,1628859851.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:11.121Z,1628859851.121 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:11.122Z,1628859851.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:11.123Z,1628859851.123 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:11.534Z,1628859851.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EEE,000,005EF,186,80,80,46,FF 2021-08-13T13:04:11.534Z,1628859851.534 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:11.534Z,1628859851.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:11.536Z,1628859851.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:11.941Z,1628859851.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:12.341Z,1628859852.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,005F0,187,80,80,94,FF 2021-08-13T13:04:12.342Z,1628859852.342 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:12.774Z,1628859852.774 [Micromodem](INFO): Nmea in: $SNTTA,0.474447,0.054349,,,130413.06*53 2021-08-13T13:04:12.801Z,1628859852.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 204.807894 deg, deltaT: 4.342389 s, approachRate: 0.013818 m/s, LOS rate: -0.313387 deg/s, posRepo size: 4 2021-08-13T13:04:15.202Z,1628859855.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:15.569Z,1628859855.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:15.569Z,1628859855.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:15.569Z,1628859855.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:15.570Z,1628859855.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:15.986Z,1628859855.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F14,000,005F0,187,80,80,94,FF 2021-08-13T13:04:15.986Z,1628859855.986 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:15.986Z,1628859855.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:15.988Z,1628859855.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:16.396Z,1628859856.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:16.781Z,1628859856.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,005EA,185,80,80,68,FF 2021-08-13T13:04:16.782Z,1628859856.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:17.225Z,1628859857.225 [Micromodem](INFO): Nmea in: $SNTTA,0.196102,,,,130417.51*49 2021-08-13T13:04:17.262Z,1628859857.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.339996 m, bearing: 210.564255 deg, deltaT: 4.418781 s, approachRate: -0.081472 m/s, LOS rate: 1.302703 deg/s, posRepo size: 4 2021-08-13T13:04:19.629Z,1628859859.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:20.025Z,1628859860.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:20.025Z,1628859860.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:20.025Z,1628859860.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:20.026Z,1628859860.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:20.425Z,1628859860.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB2,000,005EA,185,80,80,68,FF 2021-08-13T13:04:20.425Z,1628859860.425 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:20.425Z,1628859860.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:20.427Z,1628859860.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:20.825Z,1628859860.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:21.225Z,1628859861.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,005E8,187,80,80,53,FF 2021-08-13T13:04:21.226Z,1628859861.226 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:21.665Z,1628859861.665 [Micromodem](INFO): Nmea in: $SNTTA,0.048972,,,,130421.95*49 2021-08-13T13:04:21.688Z,1628859861.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 218.527927 deg, deltaT: 4.482020 s, approachRate: -0.026773 m/s, LOS rate: 1.776804 deg/s, posRepo size: 4 2021-08-13T13:04:24.159Z,1628859864.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:24.466Z,1628859864.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:24.466Z,1628859864.466 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:24.466Z,1628859864.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:24.467Z,1628859864.467 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:24.861Z,1628859864.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E1E,000,005E8,187,80,80,53,FF 2021-08-13T13:04:24.861Z,1628859864.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:24.861Z,1628859864.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:24.864Z,1628859864.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:25.273Z,1628859865.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:25.680Z,1628859865.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,005E7,186,80,80,47,FF 2021-08-13T13:04:25.681Z,1628859865.681 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:26.133Z,1628859866.133 [Micromodem](INFO): Nmea in: $SNTTA,0.082427,,,,130426.39*43 2021-08-13T13:04:26.244Z,1628859866.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 213.661035 deg, deltaT: 4.421900 s, approachRate: -0.013570 m/s, LOS rate: -1.100634 deg/s, posRepo size: 4 2021-08-13T13:04:28.543Z,1628859868.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:28.909Z,1628859868.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:28.909Z,1628859868.909 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:28.909Z,1628859868.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:28.910Z,1628859868.910 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:29.313Z,1628859869.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9C,000,005E7,186,80,80,47,FF 2021-08-13T13:04:29.313Z,1628859869.313 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:29.313Z,1628859869.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:29.315Z,1628859869.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:29.713Z,1628859869.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:30.130Z,1628859870.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,005EB,187,80,80,74,FF 2021-08-13T13:04:30.132Z,1628859870.132 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:30.557Z,1628859870.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130430.84*57 2021-08-13T13:04:30.592Z,1628859870.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.399998 m, bearing: 222.154990 deg, deltaT: 4.534281 s, approachRate: 0.052930 m/s, LOS rate: 1.873275 deg/s, posRepo size: 4 2021-08-13T13:04:33.010Z,1628859873.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:33.345Z,1628859873.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:33.345Z,1628859873.345 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:33.345Z,1628859873.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:33.346Z,1628859873.346 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:33.753Z,1628859873.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E28,000,005EB,187,80,80,74,FF 2021-08-13T13:04:33.754Z,1628859873.754 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:33.754Z,1628859873.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:33.755Z,1628859873.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:34.197Z,1628859874.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:34.559Z,1628859874.559 [Micromodem](INFO): Nmea in: $SNTTA,0.061589,0.226272,,,130435.28*56 2021-08-13T13:04:34.981Z,1628859874.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,01CC0,187,80,80,8A,FF 2021-08-13T13:04:34.982Z,1628859874.982 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:35.404Z,1628859875.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 404.100006 m, bearing: 223.557501 deg, deltaT: 4.802558 s, approachRate: 73.023590 m/s, LOS rate: 0.292034 deg/s, posRepo size: 4 2021-08-13T13:04:35.405Z,1628859875.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 404.10 m. Resuming terminal guidance. 2021-08-13T13:04:35.405Z,1628859875.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:04:35.811Z,1628859875.811 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:04:35.812Z,1628859875.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:04:35.812Z,1628859875.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:04:35.812Z,1628859875.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:04:35.812Z,1628859875.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:04:35.812Z,1628859875.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:04:35.812Z,1628859875.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:04:37.869Z,1628859877.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:38.265Z,1628859878.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:38.265Z,1628859878.265 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:38.265Z,1628859878.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:38.266Z,1628859878.266 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:38.653Z,1628859878.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E25,000,01CC0,187,80,80,8A,FF 2021-08-13T13:04:38.653Z,1628859878.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:38.653Z,1628859878.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:38.655Z,1628859878.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:39.069Z,1628859879.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:39.461Z,1628859879.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,005E9,188,80,80,9E,FF 2021-08-13T13:04:39.461Z,1628859879.461 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:39.913Z,1628859879.913 [Micromodem](INFO): Nmea in: $SNTTA,0.156666,,,,130440.18*4F 2021-08-13T13:04:39.946Z,1628859879.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 233.294919 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:04:39.954Z,1628859879.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 233.294919deg and heading rate command to 0 deg/s. 2021-08-13T13:04:42.434Z,1628859882.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:42.733Z,1628859882.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:42.733Z,1628859882.733 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:42.733Z,1628859882.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:42.734Z,1628859882.734 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:43.155Z,1628859883.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D74,000,005E9,188,80,80,9E,FF 2021-08-13T13:04:43.155Z,1628859883.155 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:43.155Z,1628859883.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:43.157Z,1628859883.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:43.546Z,1628859883.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:44.366Z,1628859884.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130444.68*56 2021-08-13T13:04:44.761Z,1628859884.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,02B16,189,80,80,5E,FF 2021-08-13T13:04:44.761Z,1628859884.761 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:45.199Z,1628859885.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 624.299988 m, bearing: 237.398196 deg, deltaT: 5.272480 s, approachRate: 108.301971 m/s, LOS rate: 0.778244 deg/s, posRepo size: 2 2021-08-13T13:04:45.201Z,1628859885.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 624.299988 m, bearing: 237.398196 deg, approachRate: 108.301971 m/s, LOS rate: 0.778244 deg/s, cmd update: 2.334733 deg/s, cmd heading: 233.294919 deg, new cmd heading: 233.294919 deg. 2021-08-13T13:04:47.609Z,1628859887.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:48.017Z,1628859888.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:48.017Z,1628859888.017 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:48.017Z,1628859888.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:48.018Z,1628859888.018 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:48.397Z,1628859888.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D21,000,02B16,189,80,80,5E,FF 2021-08-13T13:04:48.397Z,1628859888.397 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:48.398Z,1628859888.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:48.399Z,1628859888.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:48.804Z,1628859888.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:49.205Z,1628859889.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8F,000,005F9,18A,80,80,88,FF 2021-08-13T13:04:49.206Z,1628859889.206 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:49.645Z,1628859889.645 [Micromodem](INFO): Nmea in: $SNTTA,0.035835,,,,130449.92*48 2021-08-13T13:04:49.701Z,1628859889.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 253.919495 deg, deltaT: 4.454627 s, approachRate: -127.970306 m/s, LOS rate: 3.708795 deg/s, posRepo size: 3 2021-08-13T13:04:49.703Z,1628859889.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.239998 m, bearing: 253.919495 deg, approachRate: -127.970306 m/s, LOS rate: 3.708795 deg/s, cmd update: 11.126386 deg/s, cmd heading: 243.696077 deg, new cmd heading: 244.771997 deg. 2021-08-13T13:04:52.085Z,1628859892.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:52.433Z,1628859892.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:52.433Z,1628859892.433 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:52.433Z,1628859892.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:52.434Z,1628859892.434 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:52.839Z,1628859892.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C8F,000,005F9,18A,80,80,88,FF 2021-08-13T13:04:52.839Z,1628859892.839 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:52.839Z,1628859892.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:52.841Z,1628859892.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:53.245Z,1628859893.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:53.649Z,1628859893.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00605,188,80,80,7F,FF 2021-08-13T13:04:53.650Z,1628859893.650 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:54.164Z,1628859894.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 288.141256 deg, deltaT: 4.440795 s, approachRate: 0.162135 m/s, LOS rate: 7.706224 deg/s, posRepo size: 4 2021-08-13T13:04:54.166Z,1628859894.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.960007 m, bearing: 288.141256 deg, approachRate: 0.162135 m/s, LOS rate: 7.706224 deg/s, cmd update: 12.000000 deg/s, cmd heading: 293.106365 deg, new cmd heading: 298.487296 deg. 2021-08-13T13:04:56.180Z,1628859896.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:04:56.469Z,1628859896.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:04:56.469Z,1628859896.469 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:04:56.469Z,1628859896.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:04:56.470Z,1628859896.470 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:04:56.887Z,1628859896.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,00605,188,80,80,7F,FF 2021-08-13T13:04:56.887Z,1628859896.887 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:04:56.887Z,1628859896.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:04:56.890Z,1628859896.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:04:57.280Z,1628859897.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:04:57.681Z,1628859897.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00600,188,80,80,CC,FF 2021-08-13T13:04:57.681Z,1628859897.681 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:04:58.148Z,1628859898.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130458.41*50 2021-08-13T13:04:58.221Z,1628859898.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 266.843497 deg, deltaT: 4.022267 s, approachRate: -0.074587 m/s, LOS rate: -5.294964 deg/s, posRepo size: 4 2021-08-13T13:04:58.223Z,1628859898.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.660000 m, bearing: 266.843497 deg, approachRate: -0.074587 m/s, LOS rate: -5.294964 deg/s, cmd update: -12.000000 deg/s, cmd heading: 341.373618 deg, new cmd heading: 347.633994 deg. 2021-08-13T13:05:00.215Z,1628859900.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:00.513Z,1628859900.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:00.513Z,1628859900.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:00.514Z,1628859900.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:00.515Z,1628859900.515 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:00.930Z,1628859900.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DD0,000,00600,188,80,80,CC,FF 2021-08-13T13:05:00.930Z,1628859900.930 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:00.930Z,1628859900.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:00.931Z,1628859900.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:01.329Z,1628859901.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:01.733Z,1628859901.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,005F7,18A,80,80,C7,FF 2021-08-13T13:05:01.733Z,1628859901.733 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:02.173Z,1628859902.173 [Micromodem](INFO): Nmea in: $SNTTA,0.051428,,,,130502.45*4E 2021-08-13T13:05:02.231Z,1628859902.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 317.933285 deg, deltaT: 4.051661 s, approachRate: -0.133278 m/s, LOS rate: 12.609591 deg/s, posRepo size: 4 2021-08-13T13:05:02.248Z,1628859902.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.609591 deg/s. Setting heading cmd to target bearing of 317.933285deg and heading rate command to 0 deg/s. 2021-08-13T13:05:04.257Z,1628859904.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:04.553Z,1628859904.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:04.553Z,1628859904.553 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:04.553Z,1628859904.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:04.554Z,1628859904.554 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:04.983Z,1628859904.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,005F7,18A,80,80,C7,FF 2021-08-13T13:05:04.983Z,1628859904.983 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:04.983Z,1628859904.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:04.985Z,1628859904.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:05.437Z,1628859905.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:05.829Z,1628859905.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C21,000,005E1,189,80,80,96,FF 2021-08-13T13:05:05.829Z,1628859905.829 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:06.245Z,1628859906.245 [Micromodem](INFO): Nmea in: $SNTTA,0.054437,,,,130506.51*44 2021-08-13T13:05:06.323Z,1628859906.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 322.025770 deg, deltaT: 4.131108 s, approachRate: -0.319528 m/s, LOS rate: 0.990651 deg/s, posRepo size: 4 2021-08-13T13:05:06.330Z,1628859906.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.799999 m, bearing: 322.025770 deg, approachRate: -0.319528 m/s, LOS rate: 0.990651 deg/s, cmd update: 2.971952 deg/s, cmd heading: 317.933285 deg, new cmd heading: 317.933285 deg. 2021-08-13T13:05:08.672Z,1628859908.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:09.061Z,1628859909.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:09.061Z,1628859909.061 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:09.061Z,1628859909.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:09.062Z,1628859909.062 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:09.462Z,1628859909.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C21,000,005E1,189,80,80,96,FF 2021-08-13T13:05:09.462Z,1628859909.462 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:09.462Z,1628859909.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:09.464Z,1628859909.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:09.890Z,1628859909.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:10.269Z,1628859910.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,005BD,185,80,80,75,FF 2021-08-13T13:05:10.269Z,1628859910.269 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:10.722Z,1628859910.722 [Micromodem](INFO): Nmea in: $SNTTA,0.062724,,,,130510.99*43 2021-08-13T13:05:10.738Z,1628859910.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 275.802000 deg, deltaT: 4.474915 s, approachRate: -0.482692 m/s, LOS rate: -10.329530 deg/s, posRepo size: 4 2021-08-13T13:05:10.740Z,1628859910.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.639996 m, bearing: 275.802000 deg, approachRate: -0.482692 m/s, LOS rate: -10.329530 deg/s, cmd update: -12.000000 deg/s, cmd heading: 331.252377 deg, new cmd heading: 332.399224 deg. 2021-08-13T13:05:13.143Z,1628859913.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:13.501Z,1628859913.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:13.501Z,1628859913.501 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:13.501Z,1628859913.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:13.502Z,1628859913.502 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:13.917Z,1628859913.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 179,000,005BD,185,80,80,75,FF 2021-08-13T13:05:13.917Z,1628859913.917 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:13.917Z,1628859913.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:13.919Z,1628859913.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:14.305Z,1628859914.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:14.721Z,1628859914.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,0058D,186,80,80,B6,FF 2021-08-13T13:05:14.721Z,1628859914.721 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:15.145Z,1628859915.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130515.44*5D 2021-08-13T13:05:15.186Z,1628859915.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 334.547474 deg, deltaT: 4.407369 s, approachRate: -0.653451 m/s, LOS rate: 13.328921 deg/s, posRepo size: 4 2021-08-13T13:05:15.187Z,1628859915.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.328921 deg/s. Setting heading cmd to target bearing of 334.547474deg and heading rate command to 0 deg/s. 2021-08-13T13:05:17.576Z,1628859917.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:18.021Z,1628859918.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:18.021Z,1628859918.021 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:18.021Z,1628859918.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:18.022Z,1628859918.022 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:18.047Z,1628859918.047 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:05:18.350Z,1628859918.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7D,000,0058D,186,80,80,B6,FF 2021-08-13T13:05:18.350Z,1628859918.350 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:18.350Z,1628859918.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:18.352Z,1628859918.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:18.784Z,1628859918.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:19.158Z,1628859919.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,0055E,187,80,80,9C,FF 2021-08-13T13:05:19.158Z,1628859919.158 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:19.597Z,1628859919.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130519.88*51 2021-08-13T13:05:19.638Z,1628859919.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 334.085098 deg, deltaT: 4.445771 s, approachRate: -0.634309 m/s, LOS rate: -0.104004 deg/s, posRepo size: 4 2021-08-13T13:05:19.640Z,1628859919.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.940002 m, bearing: 334.085098 deg, approachRate: -0.634309 m/s, LOS rate: -0.104004 deg/s, cmd update: -0.312011 deg/s, cmd heading: 334.547474 deg, new cmd heading: 334.547474 deg. 2021-08-13T13:05:22.063Z,1628859922.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:22.394Z,1628859922.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:22.394Z,1628859922.394 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:22.394Z,1628859922.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:22.395Z,1628859922.395 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:22.796Z,1628859922.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA3,000,0055E,187,80,80,9C,FF 2021-08-13T13:05:22.796Z,1628859922.796 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:22.796Z,1628859922.796 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:22.799Z,1628859922.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:23.205Z,1628859923.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:23.597Z,1628859923.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,0052D,188,80,80,72,FF 2021-08-13T13:05:23.598Z,1628859923.598 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:24.053Z,1628859924.053 [Micromodem](INFO): Nmea in: $SNTTA,,0.047801,,,130524.32*4A 2021-08-13T13:05:24.162Z,1628859924.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 276.422018 deg, deltaT: 4.463859 s, approachRate: -0.658624 m/s, LOS rate: -12.917764 deg/s, posRepo size: 4 2021-08-13T13:05:24.163Z,1628859924.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.917764 deg/s. Setting heading cmd to target bearing of 276.422018deg and heading rate command to 0 deg/s. 2021-08-13T13:05:26.514Z,1628859926.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:26.847Z,1628859926.847 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:26.847Z,1628859926.847 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:26.880Z,1628859926.880 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:26.881Z,1628859926.881 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:27.253Z,1628859927.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 22D,000,0052D,188,80,80,72,FF 2021-08-13T13:05:27.253Z,1628859927.253 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:27.253Z,1628859927.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:27.255Z,1628859927.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:27.669Z,1628859927.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:28.081Z,1628859928.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,004F6,186,80,80,BE,FF 2021-08-13T13:05:28.082Z,1628859928.082 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:28.513Z,1628859928.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130528.78*5C 2021-08-13T13:05:28.571Z,1628859928.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 336.082819 deg, deltaT: 4.512411 s, approachRate: -0.731317 m/s, LOS rate: 13.221491 deg/s, posRepo size: 4 2021-08-13T13:05:28.571Z,1628859928.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m. 2021-08-13T13:05:28.573Z,1628859928.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.221491 deg/s. Setting heading cmd to target bearing of 336.082819deg and heading rate command to 0 deg/s. 2021-08-13T13:05:28.914Z,1628859928.914 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:05:28.984Z,1628859928.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:05:28.984Z,1628859928.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:05:28.984Z,1628859928.984 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:05:28.985Z,1628859928.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:05:28.985Z,1628859928.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:05:28.985Z,1628859928.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:05:29.377Z,1628859929.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:05:29.377Z,1628859929.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:05:29.377Z,1628859929.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:05:29.377Z,1628859929.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:05:31.014Z,1628859931.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:31.305Z,1628859931.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:31.305Z,1628859931.305 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:31.305Z,1628859931.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:31.306Z,1628859931.306 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:31.705Z,1628859931.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA0,000,004F6,186,80,80,BE,FF 2021-08-13T13:05:31.705Z,1628859931.705 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:31.705Z,1628859931.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:31.707Z,1628859931.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:32.143Z,1628859932.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:32.513Z,1628859932.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,004C3,187,80,80,82,FF 2021-08-13T13:05:32.513Z,1628859932.513 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:32.535Z,1628859932.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:32.997Z,1628859932.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130533.23*58 2021-08-13T13:05:33.004Z,1628859933.004 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:05:33.049Z,1628859933.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 339.792322 deg, deltaT: 4.346488 s, approachRate: -0.704016 m/s, LOS rate: 0.853448 deg/s, posRepo size: 4 2021-08-13T13:05:33.049Z,1628859933.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m. 2021-08-13T13:05:33.056Z,1628859933.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.639999 m, bearing: 339.792322 deg, approachRate: -0.704016 m/s, LOS rate: 0.853448 deg/s, cmd update: 2.560345 deg/s, cmd heading: 336.082819 deg, new cmd heading: 336.082819 deg. 2021-08-13T13:05:35.359Z,1628859935.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:35.742Z,1628859935.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:35.742Z,1628859935.742 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:35.743Z,1628859935.743 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:35.746Z,1628859935.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:36.205Z,1628859936.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DFA,000,004C3,187,80,80,82,FF 2021-08-13T13:05:36.205Z,1628859936.205 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:36.205Z,1628859936.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:36.206Z,1628859936.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:36.549Z,1628859936.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:36.979Z,1628859936.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEE,000,00492,18A,80,80,62,FF 2021-08-13T13:05:36.979Z,1628859936.979 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:37.031Z,1628859937.031 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:37.426Z,1628859937.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 342.689469 deg, deltaT: 4.496087 s, approachRate: -0.653902 m/s, LOS rate: 0.644371 deg/s, posRepo size: 4 2021-08-13T13:05:37.426Z,1628859937.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.70 m. 2021-08-13T13:05:37.435Z,1628859937.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.699997 m, bearing: 342.689469 deg, approachRate: -0.653902 m/s, LOS rate: 0.644371 deg/s, cmd update: 1.933113 deg/s, cmd heading: 347.583748 deg, new cmd heading: 348.609655 deg. 2021-08-13T13:05:37.845Z,1628859937.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130537.73*59 2021-08-13T13:05:38.238Z,1628859938.238 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:05:39.799Z,1628859939.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:40.201Z,1628859940.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:40.201Z,1628859940.201 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:40.201Z,1628859940.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:40.202Z,1628859940.202 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:40.597Z,1628859940.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CEE,000,00492,18A,80,80,62,FF 2021-08-13T13:05:40.597Z,1628859940.597 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:40.597Z,1628859940.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:40.599Z,1628859940.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:41.033Z,1628859941.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:41.421Z,1628859941.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,00468,186,80,80,A1,FF 2021-08-13T13:05:41.422Z,1628859941.422 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:41.466Z,1628859941.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:41.837Z,1628859941.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130542.12*5C 2021-08-13T13:05:41.886Z,1628859941.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 340.157354 deg, deltaT: 4.435154 s, approachRate: -0.568187 m/s, LOS rate: -0.570919 deg/s, posRepo size: 4 2021-08-13T13:05:41.887Z,1628859941.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.18 m. 2021-08-13T13:05:41.887Z,1628859941.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.18 m. 2021-08-13T13:05:41.888Z,1628859941.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:05:41.891Z,1628859941.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.180000 m, bearing: 340.157354 deg, approachRate: -0.568187 m/s, LOS rate: -0.570919 deg/s, cmd update: -1.712758 deg/s, cmd heading: 356.157583 deg, new cmd heading: 356.981226 deg. 2021-08-13T13:05:43.067Z,1628859943.067 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T13:05:44.294Z,1628859944.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:44.625Z,1628859944.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:44.625Z,1628859944.625 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:44.625Z,1628859944.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:44.626Z,1628859944.626 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:45.025Z,1628859945.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E19,000,00468,186,80,80,A1,FF 2021-08-13T13:05:45.025Z,1628859945.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:45.026Z,1628859945.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:45.027Z,1628859945.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:45.445Z,1628859945.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:45.833Z,1628859945.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00438,184,80,80,84,FF 2021-08-13T13:05:45.834Z,1628859945.834 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:45.862Z,1628859945.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:46.273Z,1628859946.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130546.55*5B 2021-08-13T13:05:46.369Z,1628859946.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 334.810081 deg, deltaT: 4.396057 s, approachRate: -0.655132 m/s, LOS rate: -1.216379 deg/s, posRepo size: 4 2021-08-13T13:05:46.371Z,1628859946.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.300001 m, bearing: 334.810081 deg, approachRate: -0.655132 m/s, LOS rate: -1.216379 deg/s, cmd update: -3.649138 deg/s, cmd heading: 348.621066 deg, new cmd heading: 347.747575 deg. 2021-08-13T13:05:48.319Z,1628859948.319 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:05:48.694Z,1628859948.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:49.069Z,1628859949.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:49.069Z,1628859949.069 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:49.069Z,1628859949.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:49.070Z,1628859949.070 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:49.473Z,1628859949.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBB,000,00438,184,80,80,84,FF 2021-08-13T13:05:49.473Z,1628859949.473 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:49.473Z,1628859949.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:49.475Z,1628859949.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:49.883Z,1628859949.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:50.369Z,1628859950.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,00406,186,80,80,89,FF 2021-08-13T13:05:50.369Z,1628859950.369 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:50.448Z,1628859950.448 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:50.721Z,1628859950.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130551.00*5D 2021-08-13T13:05:50.757Z,1628859950.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 338.203073 deg, deltaT: 4.586324 s, approachRate: -0.654119 m/s, LOS rate: 0.739806 deg/s, posRepo size: 4 2021-08-13T13:05:50.759Z,1628859950.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.300001 m, bearing: 338.203073 deg, approachRate: -0.654119 m/s, LOS rate: 0.739806 deg/s, cmd update: 2.219419 deg/s, cmd heading: 331.899452 deg, new cmd heading: 330.749346 deg. 2021-08-13T13:05:53.115Z,1628859953.115 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:05:53.133Z,1628859953.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:53.513Z,1628859953.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:53.513Z,1628859953.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:53.513Z,1628859953.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:53.514Z,1628859953.514 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:53.929Z,1628859953.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A3,000,00406,186,80,80,89,FF 2021-08-13T13:05:53.929Z,1628859953.929 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:53.929Z,1628859953.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:53.931Z,1628859953.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:54.330Z,1628859954.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:54.737Z,1628859954.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,003DB,185,80,80,52,FF 2021-08-13T13:05:54.738Z,1628859954.738 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:54.761Z,1628859954.761 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:55.173Z,1628859955.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130555.46*5B 2021-08-13T13:05:55.220Z,1628859955.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 341.139973 deg, deltaT: 4.312922 s, approachRate: -0.598202 m/s, LOS rate: 0.680954 deg/s, posRepo size: 4 2021-08-13T13:05:55.222Z,1628859955.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.720001 m, bearing: 341.139973 deg, approachRate: -0.598202 m/s, LOS rate: 0.680954 deg/s, cmd update: 2.042860 deg/s, cmd heading: 341.472860 deg, new cmd heading: 342.469228 deg. 2021-08-13T13:05:57.625Z,1628859957.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:05:57.996Z,1628859957.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:05:57.996Z,1628859957.996 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:05:57.996Z,1628859957.996 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:05:57.997Z,1628859957.997 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:05:58.373Z,1628859958.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 037,000,003DB,185,80,80,52,FF 2021-08-13T13:05:58.373Z,1628859958.373 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:05:58.373Z,1628859958.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:05:58.375Z,1628859958.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:05:58.769Z,1628859958.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:05:59.165Z,1628859959.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,003AB,184,80,80,6B,FF 2021-08-13T13:05:59.166Z,1628859959.166 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:05:59.237Z,1628859959.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:05:59.618Z,1628859959.618 [Micromodem](INFO): Nmea in: $SNTTA,0.052937,,,,130559.90*48 2021-08-13T13:05:59.664Z,1628859959.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 336.320646 deg, deltaT: 4.475672 s, approachRate: -0.643479 m/s, LOS rate: -1.076783 deg/s, posRepo size: 4 2021-08-13T13:05:59.666Z,1628859959.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.840000 m, bearing: 336.320646 deg, approachRate: -0.643479 m/s, LOS rate: -1.076783 deg/s, cmd update: -3.230349 deg/s, cmd heading: 350.614781 deg, new cmd heading: 351.492955 deg. 2021-08-13T13:06:02.097Z,1628859962.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:02.409Z,1628859962.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:02.409Z,1628859962.409 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:02.409Z,1628859962.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:02.410Z,1628859962.410 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:02.813Z,1628859962.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB1,000,003AB,184,80,80,6B,FF 2021-08-13T13:06:02.814Z,1628859962.814 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:02.814Z,1628859962.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:02.815Z,1628859962.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:03.219Z,1628859963.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:03.239Z,1628859963.239 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T13:06:03.633Z,1628859963.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00372,186,80,80,4E,FF 2021-08-13T13:06:03.633Z,1628859963.633 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:03.654Z,1628859963.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:04.069Z,1628859964.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130604.34*59 2021-08-13T13:06:04.173Z,1628859964.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 326.889739 deg, deltaT: 4.417318 s, approachRate: -0.774225 m/s, LOS rate: -2.134985 deg/s, posRepo size: 4 2021-08-13T13:06:04.175Z,1628859964.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.420000 m, bearing: 326.889739 deg, approachRate: -0.774225 m/s, LOS rate: -2.134985 deg/s, cmd update: -6.404954 deg/s, cmd heading: 336.332744 deg, new cmd heading: 334.660755 deg. 2021-08-13T13:06:06.490Z,1628859966.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:06.845Z,1628859966.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:06.845Z,1628859966.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:06.845Z,1628859966.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:06.846Z,1628859966.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:07.249Z,1628859967.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 176,000,00372,186,80,80,4E,FF 2021-08-13T13:06:07.249Z,1628859967.249 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:07.249Z,1628859967.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:07.251Z,1628859967.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:07.661Z,1628859967.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:08.069Z,1628859968.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,0034F,185,80,80,60,FF 2021-08-13T13:06:08.069Z,1628859968.069 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:08.167Z,1628859968.167 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:08.493Z,1628859968.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130608.78*5D 2021-08-13T13:06:08.550Z,1628859968.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 325.989575 deg, deltaT: 4.517422 s, approachRate: -0.464867 m/s, LOS rate: -0.199265 deg/s, posRepo size: 4 2021-08-13T13:06:08.552Z,1628859968.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.319998 m, bearing: 325.989575 deg, approachRate: -0.464867 m/s, LOS rate: -0.199265 deg/s, cmd update: -0.597795 deg/s, cmd heading: 307.450646 deg, new cmd heading: 304.955058 deg. 2021-08-13T13:06:10.921Z,1628859970.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:11.285Z,1628859971.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:11.285Z,1628859971.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:11.285Z,1628859971.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:11.286Z,1628859971.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:11.721Z,1628859971.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18C,000,0034F,185,80,80,60,FF 2021-08-13T13:06:11.721Z,1628859971.721 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:11.721Z,1628859971.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:11.723Z,1628859971.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:12.116Z,1628859972.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:12.513Z,1628859972.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00315,185,80,80,9B,FF 2021-08-13T13:06:12.514Z,1628859972.514 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:12.577Z,1628859972.577 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:13.003Z,1628859973.003 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130613.25*5F 2021-08-13T13:06:13.044Z,1628859973.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 323.522538 deg, deltaT: 4.404825 s, approachRate: -0.790042 m/s, LOS rate: -0.560076 deg/s, posRepo size: 4 2021-08-13T13:06:13.046Z,1628859973.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.839999 m, bearing: 323.522538 deg, approachRate: -0.790042 m/s, LOS rate: -0.560076 deg/s, cmd update: -1.680228 deg/s, cmd heading: 304.812544 deg, new cmd heading: 304.543512 deg. 2021-08-13T13:06:15.365Z,1628859975.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:15.765Z,1628859975.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:15.765Z,1628859975.765 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:15.765Z,1628859975.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:15.766Z,1628859975.766 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:16.189Z,1628859976.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 04C,000,00315,185,80,80,9B,FF 2021-08-13T13:06:16.189Z,1628859976.189 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:16.190Z,1628859976.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:16.191Z,1628859976.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:16.585Z,1628859976.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:16.989Z,1628859976.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,002F0,184,80,80,B0,FF 2021-08-13T13:06:16.990Z,1628859976.990 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:17.050Z,1628859977.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:17.421Z,1628859977.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130617.72*59 2021-08-13T13:06:17.466Z,1628859977.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 313.103467 deg, deltaT: 4.473184 s, approachRate: -0.496291 m/s, LOS rate: -2.329229 deg/s, posRepo size: 4 2021-08-13T13:06:17.468Z,1628859977.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.619999 m, bearing: 313.103467 deg, approachRate: -0.496291 m/s, LOS rate: -2.329229 deg/s, cmd update: -6.987687 deg/s, cmd heading: 297.303288 deg, new cmd heading: 296.592147 deg. 2021-08-13T13:06:18.258Z,1628859978.258 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T13:06:19.833Z,1628859979.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:20.217Z,1628859980.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:20.217Z,1628859980.217 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:20.217Z,1628859980.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:20.218Z,1628859980.218 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:20.603Z,1628859980.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBE,000,002F0,184,80,80,B0,FF 2021-08-13T13:06:20.603Z,1628859980.603 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:20.603Z,1628859980.603 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:20.606Z,1628859980.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:21.037Z,1628859981.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:21.413Z,1628859981.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EC,000,002D6,189,80,80,78,FF 2021-08-13T13:06:21.414Z,1628859981.414 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:21.474Z,1628859981.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:21.861Z,1628859981.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130622.13*58 2021-08-13T13:06:21.891Z,1628859981.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 242.645995 deg, deltaT: 4.424682 s, approachRate: -0.352568 m/s, LOS rate: -15.923737 deg/s, posRepo size: 4 2021-08-13T13:06:21.912Z,1628859981.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.923737 deg/s. Setting heading cmd to target bearing of 242.645995deg and heading rate command to 0 deg/s. 2021-08-13T13:06:24.322Z,1628859984.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:24.650Z,1628859984.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:24.650Z,1628859984.650 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:24.650Z,1628859984.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:24.651Z,1628859984.651 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:25.061Z,1628859985.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3EC,000,002D6,189,80,80,78,FF 2021-08-13T13:06:25.061Z,1628859985.061 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:25.061Z,1628859985.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:25.063Z,1628859985.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:25.452Z,1628859985.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:25.853Z,1628859985.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,002C9,189,80,80,67,FF 2021-08-13T13:06:25.853Z,1628859985.853 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:25.878Z,1628859985.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:26.299Z,1628859986.299 [Micromodem](INFO): Nmea in: $SNTTA,0.034904,,,,130626.59*46 2021-08-13T13:06:26.393Z,1628859986.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 310.248092 deg, deltaT: 4.403858 s, approachRate: -0.177117 m/s, LOS rate: 15.350654 deg/s, posRepo size: 4 2021-08-13T13:06:26.394Z,1628859986.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.350654 deg/s. Setting heading cmd to target bearing of 310.248092deg and heading rate command to 0 deg/s. 2021-08-13T13:06:28.705Z,1628859988.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:29.085Z,1628859989.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:29.085Z,1628859989.085 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:29.085Z,1628859989.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:29.086Z,1628859989.086 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:29.497Z,1628859989.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D36,000,002C9,189,80,80,67,FF 2021-08-13T13:06:29.497Z,1628859989.497 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:29.498Z,1628859989.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:29.499Z,1628859989.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:29.906Z,1628859989.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:30.309Z,1628859990.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,002CF,186,80,80,B1,FF 2021-08-13T13:06:30.309Z,1628859990.309 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:30.428Z,1628859990.428 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:30.761Z,1628859990.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130631.02*5A 2021-08-13T13:06:30.784Z,1628859990.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 265.830553 deg, deltaT: 4.549585 s, approachRate: 0.079128 m/s, LOS rate: -9.762987 deg/s, posRepo size: 4 2021-08-13T13:06:30.786Z,1628859990.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.639998 m, bearing: 265.830553 deg, approachRate: 0.079128 m/s, LOS rate: -9.762987 deg/s, cmd update: -12.000000 deg/s, cmd heading: 310.248092 deg, new cmd heading: 310.248092 deg. 2021-08-13T13:06:33.189Z,1628859993.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:33.533Z,1628859993.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:33.533Z,1628859993.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:33.533Z,1628859993.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:33.534Z,1628859993.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:33.945Z,1628859993.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F83,000,002CF,186,80,80,B1,FF 2021-08-13T13:06:33.946Z,1628859993.946 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:33.947Z,1628859993.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:33.969Z,1628859993.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:34.345Z,1628859994.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:34.753Z,1628859994.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,002E7,187,80,80,8B,FF 2021-08-13T13:06:34.753Z,1628859994.753 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:34.779Z,1628859994.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:35.185Z,1628859995.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130635.49*51 2021-08-13T13:06:35.249Z,1628859995.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 250.740015 deg, deltaT: 4.350778 s, approachRate: 0.330976 m/s, LOS rate: -3.468469 deg/s, posRepo size: 4 2021-08-13T13:06:35.256Z,1628859995.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.080001 m, bearing: 250.740015 deg, approachRate: 0.330976 m/s, LOS rate: -3.468469 deg/s, cmd update: -10.405406 deg/s, cmd heading: 258.037567 deg, new cmd heading: 252.418927 deg. 2021-08-13T13:06:37.603Z,1628859997.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:38.029Z,1628859998.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:38.029Z,1628859998.029 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:38.029Z,1628859998.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:38.030Z,1628859998.030 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:38.385Z,1628859998.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 09B,000,002E7,187,80,80,8B,FF 2021-08-13T13:06:38.385Z,1628859998.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:38.385Z,1628859998.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:38.387Z,1628859998.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:38.788Z,1628859998.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:39.193Z,1628859999.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00319,185,80,80,38,FF 2021-08-13T13:06:39.194Z,1628859999.194 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:39.260Z,1628859999.260 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:39.640Z,1628859999.640 [Micromodem](INFO): Nmea in: $SNTTA,0.040105,,,,130639.91*46 2021-08-13T13:06:39.657Z,1628859999.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 278.736823 deg, deltaT: 4.481160 s, approachRate: 0.669470 m/s, LOS rate: 6.247670 deg/s, posRepo size: 4 2021-08-13T13:06:39.659Z,1628859999.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.080001 m, bearing: 278.736823 deg, approachRate: 0.669470 m/s, LOS rate: 6.247670 deg/s, cmd update: 12.000000 deg/s, cmd heading: 211.493727 deg, new cmd heading: 207.242639 deg. 2021-08-13T13:06:42.058Z,1628860002.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:42.421Z,1628860002.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:42.421Z,1628860002.421 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:42.421Z,1628860002.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:42.422Z,1628860002.422 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:42.829Z,1628860002.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCB,000,00319,185,80,80,38,FF 2021-08-13T13:06:42.829Z,1628860002.829 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:42.829Z,1628860002.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:42.831Z,1628860002.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:43.233Z,1628860003.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:43.633Z,1628860003.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,0033C,186,80,80,29,FF 2021-08-13T13:06:43.633Z,1628860003.633 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:43.654Z,1628860003.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:44.085Z,1628860004.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130644.36*5F 2021-08-13T13:06:44.171Z,1628860004.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 283.260649 deg, deltaT: 4.394209 s, approachRate: 0.477901 m/s, LOS rate: 1.029497 deg/s, posRepo size: 4 2021-08-13T13:06:44.174Z,1628860004.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.179997 m, bearing: 283.260649 deg, approachRate: 0.477901 m/s, LOS rate: 1.029497 deg/s, cmd update: 3.088491 deg/s, cmd heading: 264.323140 deg, new cmd heading: 270.568324 deg. 2021-08-13T13:06:46.162Z,1628860006.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:46.461Z,1628860006.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:46.461Z,1628860006.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:46.461Z,1628860006.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:46.462Z,1628860006.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:46.882Z,1628860006.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED4,000,0033C,186,80,80,29,FF 2021-08-13T13:06:46.882Z,1628860006.882 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:46.882Z,1628860006.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:46.886Z,1628860006.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:47.272Z,1628860007.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:47.673Z,1628860007.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,0034E,187,80,80,78,FF 2021-08-13T13:06:47.674Z,1628860007.674 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:47.694Z,1628860007.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:48.101Z,1628860008.101 [Micromodem](INFO): Nmea in: $SNTTA,0.030610,,,,130648.41*49 2021-08-13T13:06:48.184Z,1628860008.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 245.276191 deg, deltaT: 4.039584 s, approachRate: 0.267355 m/s, LOS rate: -9.403062 deg/s, posRepo size: 4 2021-08-13T13:06:48.184Z,1628860008.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.26 m. Rolling out. 2021-08-13T13:06:48.185Z,1628860008.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:06:48.563Z,1628860008.563 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:06:50.551Z,1628860010.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:50.913Z,1628860010.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:50.913Z,1628860010.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:50.913Z,1628860010.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:50.914Z,1628860010.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:51.329Z,1628860011.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B7,000,0034E,187,80,80,78,FF 2021-08-13T13:06:51.329Z,1628860011.329 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:51.330Z,1628860011.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:51.331Z,1628860011.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:51.884Z,1628860011.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:52.177Z,1628860012.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,0036F,186,80,80,4B,FF 2021-08-13T13:06:52.178Z,1628860012.178 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:52.259Z,1628860012.259 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:52.573Z,1628860012.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130652.85*50 2021-08-13T13:06:52.613Z,1628860012.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 275.916720 deg, deltaT: 4.565122 s, approachRate: 0.433724 m/s, LOS rate: 6.711875 deg/s, posRepo size: 4 2021-08-13T13:06:55.025Z,1628860015.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:55.373Z,1628860015.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:55.373Z,1628860015.373 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:55.373Z,1628860015.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:55.374Z,1628860015.374 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:06:55.773Z,1628860015.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EAD,000,0036F,186,80,80,4B,FF 2021-08-13T13:06:55.773Z,1628860015.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:06:55.773Z,1628860015.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:06:55.775Z,1628860015.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:06:56.211Z,1628860016.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:06:56.581Z,1628860016.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00384,185,80,80,51,FF 2021-08-13T13:06:56.581Z,1628860016.581 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:06:56.602Z,1628860016.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:06:57.043Z,1628860017.043 [Micromodem](INFO): Nmea in: $SNTTA,0.033308,,,,130657.30*4E 2021-08-13T13:06:57.069Z,1628860017.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 273.372202 deg, deltaT: 4.342983 s, approachRate: 0.290122 m/s, LOS rate: -0.585892 deg/s, posRepo size: 4 2021-08-13T13:06:59.427Z,1628860019.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:06:59.813Z,1628860019.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:06:59.813Z,1628860019.813 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:06:59.813Z,1628860019.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:06:59.814Z,1628860019.814 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:00.225Z,1628860020.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCB,000,00384,185,80,80,51,FF 2021-08-13T13:07:00.225Z,1628860020.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:00.225Z,1628860020.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:00.227Z,1628860020.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:00.628Z,1628860020.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:07:01.033Z,1628860021.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,003AB,186,80,80,5B,FF 2021-08-13T13:07:01.033Z,1628860021.033 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:07:01.099Z,1628860021.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:07:01.489Z,1628860021.489 [Micromodem](INFO): Nmea in: $SNTTA,0.053573,,,,130701.75*41 2021-08-13T13:07:01.537Z,1628860021.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 291.024470 deg, deltaT: 4.502443 s, approachRate: 0.519719 m/s, LOS rate: 3.920598 deg/s, posRepo size: 4 2021-08-13T13:07:03.463Z,1628860023.463 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:07:03.899Z,1628860023.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:04.257Z,1628860024.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:04.257Z,1628860024.257 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:04.257Z,1628860024.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:04.258Z,1628860024.258 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:04.667Z,1628860024.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0A,000,003AB,186,80,80,5B,FF 2021-08-13T13:07:04.667Z,1628860024.667 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:04.667Z,1628860024.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:04.669Z,1628860024.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:05.073Z,1628860025.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:07:06.689Z,1628860026.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,0364A,187,80,80,50,FF 2021-08-13T13:07:06.689Z,1628860026.689 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:07:06.733Z,1628860026.733 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:07:07.153Z,1628860027.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 796.380066 m, bearing: 289.935438 deg, deltaT: 5.629159 s, approachRate: 138.127213 m/s, LOS rate: -0.193463 deg/s, posRepo size: 4 2021-08-13T13:07:07.154Z,1628860027.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 796.38 m. Resuming terminal guidance. 2021-08-13T13:07:07.154Z,1628860027.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:07:07.525Z,1628860027.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:07:07.525Z,1628860027.525 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:07:07.526Z,1628860027.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:07:07.526Z,1628860027.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:07:07.526Z,1628860027.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:07:07.526Z,1628860027.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:07:07.530Z,1628860027.530 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:07:07.950Z,1628860027.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:07:07.950Z,1628860027.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:07:07.951Z,1628860027.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:07:07.951Z,1628860027.951 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:07:09.535Z,1628860029.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:09.921Z,1628860029.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:09.921Z,1628860029.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:09.921Z,1628860029.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:09.922Z,1628860029.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:10.329Z,1628860030.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F76,000,0364A,187,80,80,50,FF 2021-08-13T13:07:10.329Z,1628860030.329 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:10.330Z,1628860030.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:10.331Z,1628860030.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:12.038Z,1628860032.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:13.161Z,1628860033.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:13.162Z,1628860033.162 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:13.162Z,1628860033.162 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:14.790Z,1628860034.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:15.178Z,1628860035.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:15.178Z,1628860035.178 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:15.179Z,1628860035.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:15.180Z,1628860035.180 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:15.569Z,1628860035.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:15.569Z,1628860035.569 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:15.570Z,1628860035.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:17.627Z,1628860037.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:18.422Z,1628860038.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:18.423Z,1628860038.423 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:18.423Z,1628860038.423 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:20.143Z,1628860040.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:20.437Z,1628860040.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:20.437Z,1628860040.437 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:20.437Z,1628860040.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:20.438Z,1628860040.438 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:20.845Z,1628860040.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:20.845Z,1628860040.845 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:20.845Z,1628860040.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:21.643Z,1628860041.643 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:22.894Z,1628860042.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:23.665Z,1628860043.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:23.665Z,1628860043.665 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:23.665Z,1628860043.665 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:25.718Z,1628860045.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:26.085Z,1628860046.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:26.085Z,1628860046.085 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:26.085Z,1628860046.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:26.086Z,1628860046.086 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:26.493Z,1628860046.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:26.494Z,1628860046.494 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:26.494Z,1628860046.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:28.221Z,1628860048.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:28.542Z,1628860048.542 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T13:07:29.329Z,1628860049.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:29.330Z,1628860049.330 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:29.330Z,1628860049.330 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:30.994Z,1628860050.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:31.341Z,1628860051.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:31.341Z,1628860051.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:31.342Z,1628860051.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:31.343Z,1628860051.343 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:31.741Z,1628860051.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:31.741Z,1628860051.741 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:31.741Z,1628860051.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:32.186Z,1628860052.186 [Micromodem](FAULT): Failed to receive CAREV within timeout 2021-08-13T13:07:32.186Z,1628860052.186 [Micromodem] Hardware Fault, FailCount= 1 2021-08-13T13:07:32.186Z,1628860052.186 [Micromodem](ERROR): Hardware Fault 2021-08-13T13:07:32.292Z,1628860052.292 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T13:07:32.292Z,1628860052.292 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T13:07:32.292Z,1628860052.292 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T13:07:32.292Z,1628860052.292 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T13:07:32.293Z,1628860052.293 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T13:07:32.408Z,1628860052.408 [CBIT](ERROR): Hardware Fault in component: Micromodem 2021-08-13T13:07:32.674Z,1628860052.674 [Micromodem](INFO): Powering down 2021-08-13T13:07:33.542Z,1628860053.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:33.684Z,1628860053.684 [CBIT](INFO): Clearing failed state for component Micromodem 2021-08-13T13:07:33.684Z,1628860053.684 [Micromodem] No Fault, FailCount= 1 2021-08-13T13:07:34.765Z,1628860054.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:34.765Z,1628860054.765 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:34.766Z,1628860054.766 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:36.378Z,1628860056.378 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:36.378Z,1628860056.378 [Micromodem](INFO): Powering up 2021-08-13T13:07:36.378Z,1628860056.378 [Micromodem](DEBUG): Initializing Micromodem. 2021-08-13T13:07:36.435Z,1628860056.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:36.773Z,1628860056.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:36.773Z,1628860056.773 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:36.773Z,1628860056.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:36.774Z,1628860056.774 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:37.189Z,1628860057.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:37.189Z,1628860057.189 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:37.189Z,1628860057.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:39.055Z,1628860059.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:40.153Z,1628860060.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:40.154Z,1628860060.154 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:40.154Z,1628860060.154 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:41.783Z,1628860061.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:42.169Z,1628860062.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:42.169Z,1628860062.169 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:42.170Z,1628860062.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:42.171Z,1628860062.171 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:42.585Z,1628860062.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,187,80,80,50,FF 2021-08-13T13:07:42.585Z,1628860062.585 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:42.586Z,1628860062.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:42.589Z,1628860062.589 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing 2021-08-13T13:07:42.589Z,1628860062.589 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-08-13T13:07:42.589Z,1628860062.589 [RDI_Pathfinder](ERROR): Communications Fault 2021-08-13T13:07:42.709Z,1628860062.709 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-08-13T13:07:43.076Z,1628860063.076 [RDI_Pathfinder](INFO): Powering down 2021-08-13T13:07:43.901Z,1628860063.901 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-08-13T13:07:43.901Z,1628860063.901 [RDI_Pathfinder] No Fault, FailCount= 1 2021-08-13T13:07:44.195Z,1628860064.195 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T13:07:43.904082Z,RTC,RTC*5E 2021-08-13T13:07:44.195Z,1628860064.195 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T13:07:43.904082Z,RTC,RTC*5E 2021-08-13T13:07:44.604Z,1628860064.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,05DA5,184,80,80,65,FF 2021-08-13T13:07:44.605Z,1628860064.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:07:45.097Z,1628860065.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1400.880005 m, bearing: 299.245587 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:07:45.097Z,1628860065.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 299.245587deg and heading rate command to 0 deg/s. 2021-08-13T13:07:47.426Z,1628860067.426 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:47.703Z,1628860067.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:47.848Z,1628860067.848 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:47.848Z,1628860067.848 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:47.849Z,1628860067.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:47.850Z,1628860067.850 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:47.863Z,1628860067.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:07:47.876Z,1628860067.876 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33 2021-08-13T13:07:48.233Z,1628860068.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB9,000,05DA5,184,80,80,65,FF 2021-08-13T13:07:48.233Z,1628860068.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:48.233Z,1628860068.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:48.235Z,1628860068.235 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31 2021-08-13T13:07:48.235Z,1628860068.235 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31 2021-08-13T13:07:48.658Z,1628860068.658 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33 2021-08-13T13:07:48.659Z,1628860068.659 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 2021-08-13T13:07:49.042Z,1628860069.042 [Micromodem](INFO): Nmea in: $SNTTA,0.026250,,,,130748.95*46 2021-08-13T13:07:49.043Z,1628860069.043 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.026250,,,,130748.95*46 2021-08-13T13:07:50.263Z,1628860070.263 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 2021-08-13T13:07:50.263Z,1628860070.263 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F 2021-08-13T13:07:50.339Z,1628860070.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:50.662Z,1628860070.662 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D 2021-08-13T13:07:50.662Z,1628860070.662 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E 2021-08-13T13:07:51.062Z,1628860071.062 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C 2021-08-13T13:07:51.062Z,1628860071.062 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47 2021-08-13T13:07:51.465Z,1628860071.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,184,80,80,65,FF 2021-08-13T13:07:51.466Z,1628860071.466 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,184,80,80,65,FF 2021-08-13T13:07:51.466Z,1628860071.466 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:07:51.467Z,1628860071.467 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45 2021-08-13T13:07:51.467Z,1628860071.467 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63 2021-08-13T13:07:51.884Z,1628860071.884 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61 2021-08-13T13:07:51.885Z,1628860071.885 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A 2021-08-13T13:07:52.085Z,1628860072.085 [CTD_Seabird](ERROR): Failed to parse device response: 5.13,23.6238,4.739.56 2021-08-13T13:07:52.314Z,1628860072.314 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38 2021-08-13T13:07:52.315Z,1628860072.315 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,13,13,07,53*4C 2021-08-13T13:07:52.716Z,1628860072.716 [Micromodem](INFO): Nmea in: $CACLK,2021,8,13,13,7,53*4E 2021-08-13T13:07:52.717Z,1628860072.717 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-13T13:07:54Z*79 2021-08-13T13:07:52.718Z,1628860072.718 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T123241/Courier0015.lzma.parts 2021-08-13T13:07:52.718Z,1628860072.718 [Micromodem](INFO): Packets left to send: 0 2021-08-13T13:07:52.738Z,1628860072.738 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T13:07:52.738Z,1628860072.738 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T13:07:52.738Z,1628860072.738 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T13:07:52.738Z,1628860072.738 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T13:07:52.739Z,1628860072.739 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T13:07:53.137Z,1628860073.137 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T13:07:54.026654Z,USER_CMD,RTC*1D 2021-08-13T13:07:53.197Z,1628860073.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:53.523Z,1628860073.523 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:53.523Z,1628860073.523 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:53.523Z,1628860073.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:53.524Z,1628860073.524 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:53.953Z,1628860073.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,184,80,80,65,FF 2021-08-13T13:07:53.953Z,1628860073.953 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:53.954Z,1628860073.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:53.961Z,1628860073.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:54.485Z,1628860074.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:07:54.891Z,1628860074.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEC,000,0054C,186,80,80,9F,FF 2021-08-13T13:07:54.891Z,1628860074.891 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:07:55.309Z,1628860075.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130755.49*56 2021-08-13T13:07:55.342Z,1628860075.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 319.157145 deg, deltaT: 10.289604 s, approachRate: -131.882629 m/s, LOS rate: 1.935114 deg/s, posRepo size: 2 2021-08-13T13:07:55.345Z,1628860075.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.859997 m, bearing: 319.157145 deg, approachRate: -131.882629 m/s, LOS rate: 1.935114 deg/s, cmd update: 5.805343 deg/s, cmd heading: 299.245587 deg, new cmd heading: 299.245587 deg. 2021-08-13T13:07:57.743Z,1628860077.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:07:58.117Z,1628860078.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:07:58.118Z,1628860078.118 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:07:58.118Z,1628860078.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:07:58.119Z,1628860078.119 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:07:58.525Z,1628860078.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EEC,000,0054C,186,80,80,9F,FF 2021-08-13T13:07:58.526Z,1628860078.526 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:07:58.526Z,1628860078.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:07:58.527Z,1628860078.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:07:58.938Z,1628860078.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:07:59.323Z,1628860079.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,00576,18A,80,80,42,FF 2021-08-13T13:07:59.323Z,1628860079.323 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:07:59.761Z,1628860079.761 [Micromodem](INFO): Nmea in: $SNTTA,0.053429,,,,130800.05*46 2021-08-13T13:07:59.795Z,1628860079.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.380001 m, bearing: 344.296667 deg, deltaT: 4.439455 s, approachRate: 0.567638 m/s, LOS rate: 5.662750 deg/s, posRepo size: 3 2021-08-13T13:07:59.797Z,1628860079.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.380001 m, bearing: 344.296667 deg, approachRate: 0.567638 m/s, LOS rate: 5.662750 deg/s, cmd update: 12.000000 deg/s, cmd heading: 325.015532 deg, new cmd heading: 327.595142 deg. 2021-08-13T13:08:02.189Z,1628860082.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:02.576Z,1628860082.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:02.576Z,1628860082.576 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:02.577Z,1628860082.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:02.577Z,1628860082.577 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:02.977Z,1628860082.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D6C,000,00576,18A,80,80,42,FF 2021-08-13T13:08:02.977Z,1628860082.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:02.977Z,1628860082.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:02.980Z,1628860082.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:03.377Z,1628860083.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:03.789Z,1628860083.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,005A0,185,80,80,6C,FF 2021-08-13T13:08:03.790Z,1628860083.790 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:04.230Z,1628860084.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130804.50*55 2021-08-13T13:08:04.319Z,1628860084.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 346.573470 deg, deltaT: 4.542438 s, approachRate: 0.554768 m/s, LOS rate: 0.501229 deg/s, posRepo size: 4 2021-08-13T13:08:04.322Z,1628860084.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.900002 m, bearing: 346.573470 deg, approachRate: 0.554768 m/s, LOS rate: 0.501229 deg/s, cmd update: 1.503688 deg/s, cmd heading: 19.396378 deg, new cmd heading: 24.644506 deg. 2021-08-13T13:08:06.465Z,1628860086.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:06.819Z,1628860086.819 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:06.819Z,1628860086.819 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:06.819Z,1628860086.819 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:06.820Z,1628860086.820 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:07.185Z,1628860087.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E84,000,005A0,185,80,80,6C,FF 2021-08-13T13:08:07.185Z,1628860087.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:07.185Z,1628860087.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:07.187Z,1628860087.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:07.644Z,1628860087.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:08.042Z,1628860088.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,005C4,187,80,80,82,FF 2021-08-13T13:08:08.043Z,1628860088.043 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:08.457Z,1628860088.457 [Micromodem](INFO): Nmea in: $SNTTA,0.478413,,,,130808.71*49 2021-08-13T13:08:08.517Z,1628860088.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 12.944665 deg, deltaT: 4.245568 s, approachRate: 0.508764 m/s, LOS rate: 6.211462 deg/s, posRepo size: 4 2021-08-13T13:08:08.519Z,1628860088.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.059994 m, bearing: 12.944665 deg, approachRate: 0.508764 m/s, LOS rate: 6.211462 deg/s, cmd update: 12.000000 deg/s, cmd heading: 25.790929 deg, new cmd heading: 26.365646 deg. 2021-08-13T13:08:10.914Z,1628860090.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:11.273Z,1628860091.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:11.273Z,1628860091.273 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:11.273Z,1628860091.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:11.274Z,1628860091.274 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:11.677Z,1628860091.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DFE,000,005C4,187,80,80,82,FF 2021-08-13T13:08:11.677Z,1628860091.677 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:11.677Z,1628860091.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:11.679Z,1628860091.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:12.084Z,1628860092.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:12.485Z,1628860092.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,005E8,186,80,80,88,FF 2021-08-13T13:08:12.485Z,1628860092.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:12.936Z,1628860092.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130813.20*54 2021-08-13T13:08:13.004Z,1628860093.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 23.025840 deg, deltaT: 4.416289 s, approachRate: 0.489100 m/s, LOS rate: 2.282725 deg/s, posRepo size: 4 2021-08-13T13:08:13.006Z,1628860093.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.220001 m, bearing: 23.025840 deg, approachRate: 0.489100 m/s, LOS rate: 2.282725 deg/s, cmd update: 6.848176 deg/s, cmd heading: 78.787119 deg, new cmd heading: 84.180975 deg. 2021-08-13T13:08:15.360Z,1628860095.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:15.725Z,1628860095.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:15.725Z,1628860095.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:15.725Z,1628860095.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:15.726Z,1628860095.726 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:16.118Z,1628860096.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED5,000,005E8,186,80,80,88,FF 2021-08-13T13:08:16.118Z,1628860096.118 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:16.118Z,1628860096.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:16.120Z,1628860096.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:16.536Z,1628860096.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:16.937Z,1628860096.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,005EF,189,80,80,69,FF 2021-08-13T13:08:16.937Z,1628860096.937 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:17.366Z,1628860097.366 [Micromodem](INFO): Nmea in: $SNTTA,0.290651,,,,130817.64*47 2021-08-13T13:08:17.390Z,1628860097.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 350.420178 deg, deltaT: 4.503993 s, approachRate: 0.093250 m/s, LOS rate: -7.239282 deg/s, posRepo size: 4 2021-08-13T13:08:17.391Z,1628860097.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.639999 m, bearing: 350.420178 deg, approachRate: 0.093250 m/s, LOS rate: -7.239282 deg/s, cmd update: -12.000000 deg/s, cmd heading: 109.579506 deg, new cmd heading: 111.921096 deg. 2021-08-13T13:08:19.790Z,1628860099.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:20.161Z,1628860100.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:20.161Z,1628860100.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:20.162Z,1628860100.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:20.162Z,1628860100.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:20.569Z,1628860100.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2EB,000,005EF,189,80,80,69,FF 2021-08-13T13:08:20.570Z,1628860100.570 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:20.570Z,1628860100.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:20.571Z,1628860100.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:20.990Z,1628860100.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:21.382Z,1628860101.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,005F3,189,80,80,98,FF 2021-08-13T13:08:21.382Z,1628860101.382 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:21.816Z,1628860101.816 [Micromodem](INFO): Nmea in: $SNTTA,,0.043650,,,130822.10*4F 2021-08-13T13:08:21.834Z,1628860101.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 75.754065 deg, deltaT: 4.340137 s, approachRate: 0.055298 m/s, LOS rate: 19.661565 deg/s, posRepo size: 4 2021-08-13T13:08:21.834Z,1628860101.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.661565 deg/s. Setting heading cmd to target bearing of 75.754065deg and heading rate command to 0 deg/s. 2021-08-13T13:08:24.332Z,1628860104.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:24.612Z,1628860104.612 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:24.612Z,1628860104.612 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:24.612Z,1628860104.612 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:24.613Z,1628860104.613 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:24.637Z,1628860104.637 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T13:08:25.029Z,1628860105.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB7,000,005F3,189,80,80,98,FF 2021-08-13T13:08:25.029Z,1628860105.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:25.029Z,1628860105.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:25.031Z,1628860105.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:25.417Z,1628860105.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:25.821Z,1628860105.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B74,000,005EC,189,80,80,7E,FF 2021-08-13T13:08:25.821Z,1628860105.821 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:26.278Z,1628860106.278 [Micromodem](INFO): Nmea in: $SNTTA,0.045983,,,,130826.55*4D 2021-08-13T13:08:26.360Z,1628860106.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 123.891654 deg, deltaT: 4.439530 s, approachRate: -0.094604 m/s, LOS rate: 10.842947 deg/s, posRepo size: 4 2021-08-13T13:08:26.363Z,1628860106.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.460003 m, bearing: 123.891654 deg, approachRate: -0.094604 m/s, LOS rate: 10.842947 deg/s, cmd update: 12.000000 deg/s, cmd heading: 75.754065 deg, new cmd heading: 75.754065 deg. 2021-08-13T13:08:28.367Z,1628860108.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:28.661Z,1628860108.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:28.661Z,1628860108.661 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:28.661Z,1628860108.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:28.662Z,1628860108.662 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:28.684Z,1628860108.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P B74,000,005EC,189,80,80,7E,FF 2021-08-13T13:08:28.685Z,1628860108.685 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:28.685Z,1628860108.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:28.686Z,1628860108.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:29.060Z,1628860109.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:29.461Z,1628860109.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,005DB,189,80,80,96,FF 2021-08-13T13:08:29.461Z,1628860109.461 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:29.886Z,1628860109.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130830.21*54 2021-08-13T13:08:29.929Z,1628860109.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 147.228785 deg, deltaT: 3.639288 s, approachRate: -0.280275 m/s, LOS rate: 6.412554 deg/s, posRepo size: 4 2021-08-13T13:08:29.931Z,1628860109.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.440002 m, bearing: 147.228785 deg, approachRate: -0.280275 m/s, LOS rate: 6.412554 deg/s, cmd update: 12.000000 deg/s, cmd heading: 119.425895 deg, new cmd heading: 124.758443 deg. 2021-08-13T13:08:32.406Z,1628860112.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:32.686Z,1628860112.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:32.686Z,1628860112.686 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:32.687Z,1628860112.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:32.687Z,1628860112.687 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:33.095Z,1628860113.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,005DB,189,80,80,96,FF 2021-08-13T13:08:33.095Z,1628860113.095 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:33.097Z,1628860113.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:33.101Z,1628860113.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:33.496Z,1628860113.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:33.902Z,1628860113.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,005C3,189,80,80,9E,FF 2021-08-13T13:08:33.902Z,1628860113.902 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:34.361Z,1628860114.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130834.62*57 2021-08-13T13:08:34.437Z,1628860114.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 140.913701 deg, deltaT: 4.441134 s, approachRate: -0.324241 m/s, LOS rate: -1.421953 deg/s, posRepo size: 4 2021-08-13T13:08:34.439Z,1628860114.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.000004 m, bearing: 140.913701 deg, approachRate: -0.324241 m/s, LOS rate: -1.421953 deg/s, cmd update: -4.265859 deg/s, cmd heading: 172.712592 deg, new cmd heading: 178.925316 deg. 2021-08-13T13:08:36.438Z,1628860116.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:36.725Z,1628860116.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:36.725Z,1628860116.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:36.725Z,1628860116.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:36.726Z,1628860116.726 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:37.137Z,1628860117.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CF6,000,005C3,189,80,80,9E,FF 2021-08-13T13:08:37.137Z,1628860117.137 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:37.138Z,1628860117.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:37.139Z,1628860117.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:37.541Z,1628860117.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:37.946Z,1628860117.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,005A7,187,80,80,5D,FF 2021-08-13T13:08:37.947Z,1628860117.947 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:38.385Z,1628860118.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130838.66*5F 2021-08-13T13:08:38.463Z,1628860118.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 130.551853 deg, deltaT: 4.095801 s, approachRate: -0.410177 m/s, LOS rate: -2.529871 deg/s, posRepo size: 4 2021-08-13T13:08:38.469Z,1628860118.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.320000 m, bearing: 130.551853 deg, approachRate: -0.410177 m/s, LOS rate: -2.529871 deg/s, cmd update: -7.589612 deg/s, cmd heading: 155.255402 deg, new cmd heading: 153.328829 deg. 2021-08-13T13:08:39.991Z,1628860119.991 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T13:08:40.799Z,1628860120.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:41.169Z,1628860121.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:41.169Z,1628860121.169 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:41.169Z,1628860121.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:41.170Z,1628860121.170 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:41.573Z,1628860121.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F02,000,005A7,187,80,80,5D,FF 2021-08-13T13:08:41.573Z,1628860121.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:41.574Z,1628860121.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:41.575Z,1628860121.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:41.994Z,1628860121.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:42.388Z,1628860122.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,0057E,187,80,80,A4,FF 2021-08-13T13:08:42.389Z,1628860122.389 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:42.821Z,1628860122.821 [Micromodem](INFO): Nmea in: $SNTTA,,0.134535,,,130843.10*49 2021-08-13T13:08:42.844Z,1628860122.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 150.877294 deg, deltaT: 4.409942 s, approachRate: -0.557830 m/s, LOS rate: 4.609004 deg/s, posRepo size: 4 2021-08-13T13:08:42.846Z,1628860122.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.860001 m, bearing: 150.877294 deg, approachRate: -0.557830 m/s, LOS rate: 4.609004 deg/s, cmd update: 12.000000 deg/s, cmd heading: 121.758413 deg, new cmd heading: 118.574373 deg. 2021-08-13T13:08:45.257Z,1628860125.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:45.613Z,1628860125.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:45.613Z,1628860125.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:45.613Z,1628860125.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:45.614Z,1628860125.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:46.029Z,1628860126.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EEB,000,0057E,187,80,80,A4,FF 2021-08-13T13:08:46.029Z,1628860126.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:46.029Z,1628860126.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:46.031Z,1628860126.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:46.428Z,1628860126.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:46.830Z,1628860126.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00555,186,80,80,B0,FF 2021-08-13T13:08:46.830Z,1628860126.830 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:47.269Z,1628860127.269 [Micromodem](INFO): Nmea in: $SNTTA,,0.029414,,,130847.55*43 2021-08-13T13:08:47.312Z,1628860127.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 150.737658 deg, deltaT: 4.426651 s, approachRate: -0.555725 m/s, LOS rate: -0.031544 deg/s, posRepo size: 4 2021-08-13T13:08:47.314Z,1628860127.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.400002 m, bearing: 150.737658 deg, approachRate: -0.555725 m/s, LOS rate: -0.031544 deg/s, cmd update: -0.094633 deg/s, cmd heading: 174.883927 deg, new cmd heading: 180.405883 deg. 2021-08-13T13:08:49.686Z,1628860129.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:50.057Z,1628860130.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:50.057Z,1628860130.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:50.057Z,1628860130.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:50.058Z,1628860130.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:50.477Z,1628860130.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F58,000,00555,186,80,80,B0,FF 2021-08-13T13:08:50.477Z,1628860130.477 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:50.477Z,1628860130.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:50.479Z,1628860130.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:50.871Z,1628860130.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:51.281Z,1628860131.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00529,186,80,80,98,FF 2021-08-13T13:08:51.282Z,1628860131.282 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:51.701Z,1628860131.701 [Micromodem](INFO): Nmea in: $SNTTA,0.423007,,,,130852.00*4F 2021-08-13T13:08:51.740Z,1628860131.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 154.549901 deg, deltaT: 4.496008 s, approachRate: -0.587188 m/s, LOS rate: 0.847917 deg/s, posRepo size: 4 2021-08-13T13:08:51.742Z,1628860131.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.759998 m, bearing: 154.549901 deg, approachRate: -0.587188 m/s, LOS rate: 0.847917 deg/s, cmd update: 2.543752 deg/s, cmd heading: 174.458456 deg, new cmd heading: 174.421340 deg. 2021-08-13T13:08:54.122Z,1628860134.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:54.510Z,1628860134.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:54.511Z,1628860134.511 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:54.511Z,1628860134.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:54.513Z,1628860134.513 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:54.905Z,1628860134.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E78,000,00529,186,80,80,98,FF 2021-08-13T13:08:54.905Z,1628860134.905 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:54.905Z,1628860134.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:54.907Z,1628860134.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:55.328Z,1628860135.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:08:55.713Z,1628860135.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,004FF,183,80,80,81,FF 2021-08-13T13:08:55.714Z,1628860135.714 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:08:56.157Z,1628860136.157 [Micromodem](INFO): Nmea in: $SNTTA,0.035673,,,,130856.43*4A 2021-08-13T13:08:56.201Z,1628860136.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 155.118254 deg, deltaT: 4.383075 s, approachRate: -0.574938 m/s, LOS rate: 0.129670 deg/s, posRepo size: 4 2021-08-13T13:08:56.201Z,1628860136.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m. 2021-08-13T13:08:56.203Z,1628860136.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.240002 m, bearing: 155.118254 deg, approachRate: -0.574938 m/s, LOS rate: 0.129670 deg/s, cmd update: 0.389010 deg/s, cmd heading: 185.607949 deg, new cmd heading: 186.803403 deg. 2021-08-13T13:08:56.554Z,1628860136.554 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:08:56.623Z,1628860136.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:08:56.623Z,1628860136.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:08:56.623Z,1628860136.623 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:08:56.624Z,1628860136.624 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:08:56.624Z,1628860136.624 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:08:56.624Z,1628860136.624 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:08:57.014Z,1628860137.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:08:57.014Z,1628860137.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:08:57.014Z,1628860137.014 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:08:57.015Z,1628860137.015 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:08:58.305Z,1628860138.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:08:58.549Z,1628860138.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:08:58.550Z,1628860138.550 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:08:58.550Z,1628860138.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:08:58.551Z,1628860138.551 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:08:58.967Z,1628860138.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEC,000,004FF,183,80,80,81,FF 2021-08-13T13:08:58.972Z,1628860138.972 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:08:58.973Z,1628860138.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:08:58.982Z,1628860138.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:08:59.378Z,1628860139.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:00.187Z,1628860140.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130900.51*51 2021-08-13T13:09:01.023Z,1628860141.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:01.452Z,1628860141.452 [DDM](ERROR): Could not parse whisker state 2021-08-13T13:09:02.594Z,1628860142.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 F,183,80,80,81,FF 2021-08-13T13:09:02.594Z,1628860142.594 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 F,183,80,80,81,FF 2021-08-13T13:09:02.595Z,1628860142.595 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:09:03.815Z,1628860143.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:04.206Z,1628860144.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:04.206Z,1628860144.206 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:04.206Z,1628860144.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:04.207Z,1628860144.207 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:04.609Z,1628860144.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 F,183,80,80,81,FF 2021-08-13T13:09:04.609Z,1628860144.609 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:04.610Z,1628860144.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:04.611Z,1628860144.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:05.030Z,1628860145.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:05.421Z,1628860145.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,004AB,189,80,80,72,FF 2021-08-13T13:09:05.422Z,1628860145.422 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:05.442Z,1628860145.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:05.853Z,1628860145.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130906.14*56 2021-08-13T13:09:05.917Z,1628860145.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 148.369809 deg, deltaT: 9.708819 s, approachRate: -0.519116 m/s, LOS rate: -0.695084 deg/s, posRepo size: 4 2021-08-13T13:09:05.917Z,1628860145.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.20 m. 2021-08-13T13:09:05.919Z,1628860145.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.200001 m, bearing: 148.369809 deg, approachRate: -0.519116 m/s, LOS rate: -0.695084 deg/s, cmd update: -2.085252 deg/s, cmd heading: 189.384590 deg, new cmd heading: 189.568652 deg. 2021-08-13T13:09:08.335Z,1628860148.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:08.650Z,1628860148.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:08.650Z,1628860148.650 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:08.650Z,1628860148.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:08.651Z,1628860148.651 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:09.060Z,1628860149.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 39A,000,004AB,189,80,80,72,FF 2021-08-13T13:09:09.060Z,1628860149.060 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:09.061Z,1628860149.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:09.062Z,1628860149.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:09.465Z,1628860149.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:09.878Z,1628860149.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,432,000,00490,18A,80,80,78,FF 2021-08-13T13:09:09.878Z,1628860149.878 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:09.985Z,1628860149.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:10.321Z,1628860150.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130910.59*58 2021-08-13T13:09:10.407Z,1628860150.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 143.906266 deg, deltaT: 4.542860 s, approachRate: -0.356603 m/s, LOS rate: -0.982540 deg/s, posRepo size: 4 2021-08-13T13:09:10.407Z,1628860150.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.58 m. 2021-08-13T13:09:10.412Z,1628860150.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.58 m. 2021-08-13T13:09:10.412Z,1628860150.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:09:10.414Z,1628860150.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.580002 m, bearing: 143.906266 deg, approachRate: -0.356603 m/s, LOS rate: -0.982540 deg/s, cmd update: -2.947620 deg/s, cmd heading: 179.979062 deg, new cmd heading: 179.025858 deg. 2021-08-13T13:09:12.704Z,1628860152.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:13.085Z,1628860153.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:13.085Z,1628860153.085 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:13.085Z,1628860153.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:13.086Z,1628860153.086 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:13.501Z,1628860153.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 432,000,00490,18A,80,80,78,FF 2021-08-13T13:09:13.501Z,1628860153.501 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:13.501Z,1628860153.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:13.503Z,1628860153.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:13.912Z,1628860153.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:14.337Z,1628860154.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,0047D,189,80,80,88,FF 2021-08-13T13:09:14.337Z,1628860154.337 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:14.431Z,1628860154.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:14.737Z,1628860154.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130915.03*52 2021-08-13T13:09:14.780Z,1628860154.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 147.312004 deg, deltaT: 4.450591 s, approachRate: -0.256146 m/s, LOS rate: 0.765233 deg/s, posRepo size: 4 2021-08-13T13:09:14.783Z,1628860154.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.440002 m, bearing: 147.312004 deg, approachRate: -0.256146 m/s, LOS rate: 0.765233 deg/s, cmd update: 2.295698 deg/s, cmd heading: 166.788721 deg, new cmd heading: 165.800260 deg. 2021-08-13T13:09:17.181Z,1628860157.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:17.536Z,1628860157.536 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:17.536Z,1628860157.536 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:17.537Z,1628860157.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:17.537Z,1628860157.537 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:17.941Z,1628860157.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 301,000,0047D,189,80,80,88,FF 2021-08-13T13:09:17.941Z,1628860157.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:17.941Z,1628860157.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:17.943Z,1628860157.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:18.349Z,1628860158.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:18.749Z,1628860158.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,0045B,185,80,80,42,FF 2021-08-13T13:09:18.749Z,1628860158.749 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:18.770Z,1628860158.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:19.181Z,1628860159.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130919.47*5E 2021-08-13T13:09:19.221Z,1628860159.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 153.482383 deg, deltaT: 4.334207 s, approachRate: -0.470675 m/s, LOS rate: 1.423647 deg/s, posRepo size: 4 2021-08-13T13:09:19.223Z,1628860159.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.399998 m, bearing: 153.482383 deg, approachRate: -0.470675 m/s, LOS rate: 1.423647 deg/s, cmd update: 4.270940 deg/s, cmd heading: 176.757177 deg, new cmd heading: 177.798393 deg. 2021-08-13T13:09:21.591Z,1628860161.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:21.995Z,1628860161.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:21.995Z,1628860161.995 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:21.995Z,1628860161.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:21.996Z,1628860161.996 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:22.381Z,1628860162.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 180,000,0045B,185,80,80,42,FF 2021-08-13T13:09:22.381Z,1628860162.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:22.381Z,1628860162.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:22.383Z,1628860162.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:22.794Z,1628860162.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:23.205Z,1628860163.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,00433,189,80,80,47,FF 2021-08-13T13:09:23.206Z,1628860163.206 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:23.236Z,1628860163.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:23.633Z,1628860163.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130923.91*5C 2021-08-13T13:09:23.656Z,1628860163.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 139.251984 deg, deltaT: 4.466385 s, approachRate: -0.537346 m/s, LOS rate: -3.186111 deg/s, posRepo size: 4 2021-08-13T13:09:23.658Z,1628860163.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.000002 m, bearing: 139.251984 deg, approachRate: -0.537346 m/s, LOS rate: -3.186111 deg/s, cmd update: -9.558333 deg/s, cmd heading: 195.832767 deg, new cmd heading: 197.637576 deg. 2021-08-13T13:09:26.082Z,1628860166.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:26.425Z,1628860166.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:26.425Z,1628860166.425 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:26.425Z,1628860166.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:26.426Z,1628860166.426 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:26.833Z,1628860166.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 335,000,00433,189,80,80,47,FF 2021-08-13T13:09:26.833Z,1628860166.833 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:26.834Z,1628860166.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:26.835Z,1628860166.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:27.264Z,1628860167.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:27.665Z,1628860167.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00411,189,80,80,BA,FF 2021-08-13T13:09:27.666Z,1628860167.666 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:27.686Z,1628860167.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:28.093Z,1628860168.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130928.36*5A 2021-08-13T13:09:28.174Z,1628860168.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 132.759207 deg, deltaT: 4.449353 s, approachRate: -0.458495 m/s, LOS rate: -1.459263 deg/s, posRepo size: 4 2021-08-13T13:09:28.181Z,1628860168.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.959997 m, bearing: 132.759207 deg, approachRate: -0.458495 m/s, LOS rate: -1.459263 deg/s, cmd update: -4.377790 deg/s, cmd heading: 153.302017 deg, new cmd heading: 148.603322 deg. 2021-08-13T13:09:30.550Z,1628860170.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:30.898Z,1628860170.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:30.898Z,1628860170.898 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:30.898Z,1628860170.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:30.899Z,1628860170.899 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:31.305Z,1628860171.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00411,189,80,80,BA,FF 2021-08-13T13:09:31.305Z,1628860171.305 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:31.306Z,1628860171.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:31.307Z,1628860171.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:31.705Z,1628860171.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:32.109Z,1628860172.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003FA,18A,80,80,75,FF 2021-08-13T13:09:32.110Z,1628860172.110 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:32.177Z,1628860172.177 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:32.549Z,1628860172.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130932.83*5F 2021-08-13T13:09:32.605Z,1628860172.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 128.892199 deg, deltaT: 4.491331 s, approachRate: -0.307258 m/s, LOS rate: -0.860994 deg/s, posRepo size: 4 2021-08-13T13:09:32.607Z,1628860172.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.580000 m, bearing: 128.892199 deg, approachRate: -0.307258 m/s, LOS rate: -0.860994 deg/s, cmd update: -2.582981 deg/s, cmd heading: 133.657367 deg, new cmd heading: 131.753786 deg. 2021-08-13T13:09:34.998Z,1628860174.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:35.333Z,1628860175.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:35.333Z,1628860175.333 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:35.333Z,1628860175.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:35.334Z,1628860175.334 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:35.741Z,1628860175.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003FA,18A,80,80,75,FF 2021-08-13T13:09:35.741Z,1628860175.741 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:35.741Z,1628860175.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:35.743Z,1628860175.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:36.161Z,1628860176.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:36.545Z,1628860176.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,003DC,188,80,80,B6,FF 2021-08-13T13:09:36.546Z,1628860176.546 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:36.632Z,1628860176.632 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:37.009Z,1628860177.009 [Micromodem](INFO): Nmea in: $SNTTA,0.037817,,,,130937.26*41 2021-08-13T13:09:37.055Z,1628860177.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 133.491649 deg, deltaT: 4.454961 s, approachRate: -0.404044 m/s, LOS rate: 1.032433 deg/s, posRepo size: 4 2021-08-13T13:09:37.062Z,1628860177.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.779999 m, bearing: 133.491649 deg, approachRate: -0.404044 m/s, LOS rate: 1.032433 deg/s, cmd update: 3.097300 deg/s, cmd heading: 122.161419 deg, new cmd heading: 121.038791 deg. 2021-08-13T13:09:39.409Z,1628860179.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:39.789Z,1628860179.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:39.789Z,1628860179.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:39.789Z,1628860179.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:39.790Z,1628860179.790 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:40.189Z,1628860180.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 301,000,003DC,188,80,80,B6,FF 2021-08-13T13:09:40.189Z,1628860180.189 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:40.189Z,1628860180.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:40.191Z,1628860180.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:40.605Z,1628860180.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:41.021Z,1628860181.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,003BC,186,80,80,A7,FF 2021-08-13T13:09:41.021Z,1628860181.021 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:41.077Z,1628860181.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:41.425Z,1628860181.425 [Micromodem](INFO): Nmea in: $SNTTA,0.035954,,,,130941.72*45 2021-08-13T13:09:41.468Z,1628860181.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 128.809322 deg, deltaT: 4.445539 s, approachRate: -0.431893 m/s, LOS rate: -1.053264 deg/s, posRepo size: 4 2021-08-13T13:09:41.470Z,1628860181.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.860001 m, bearing: 128.809322 deg, approachRate: -0.431893 m/s, LOS rate: -1.053264 deg/s, cmd update: -3.159792 deg/s, cmd heading: 135.956168 deg, new cmd heading: 137.100537 deg. 2021-08-13T13:09:43.840Z,1628860183.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:44.230Z,1628860184.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:44.230Z,1628860184.230 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:44.231Z,1628860184.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:44.233Z,1628860184.233 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:44.637Z,1628860184.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1DA,000,003BC,186,80,80,A7,FF 2021-08-13T13:09:44.637Z,1628860184.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:44.638Z,1628860184.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:44.639Z,1628860184.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:45.057Z,1628860185.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:45.443Z,1628860185.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00390,186,80,80,75,FF 2021-08-13T13:09:45.443Z,1628860185.443 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:45.464Z,1628860185.464 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:45.875Z,1628860185.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 129.213751 deg, deltaT: 4.386267 s, approachRate: -0.601879 m/s, LOS rate: 0.092203 deg/s, posRepo size: 4 2021-08-13T13:09:45.879Z,1628860185.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.219997 m, bearing: 129.213751 deg, approachRate: -0.601879 m/s, LOS rate: 0.092203 deg/s, cmd update: 0.276610 deg/s, cmd heading: 122.097455 deg, new cmd heading: 120.790040 deg. 2021-08-13T13:09:48.365Z,1628860188.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:48.669Z,1628860188.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:48.669Z,1628860188.669 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:48.669Z,1628860188.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:48.670Z,1628860188.670 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:49.077Z,1628860189.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 075,000,00390,186,80,80,75,FF 2021-08-13T13:09:49.077Z,1628860189.077 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:49.078Z,1628860189.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:49.079Z,1628860189.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:49.481Z,1628860189.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:49.894Z,1628860189.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00355,187,80,80,8A,FF 2021-08-13T13:09:49.894Z,1628860189.894 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:49.945Z,1628860189.945 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:50.349Z,1628860190.349 [Micromodem](INFO): Nmea in: $SNTTA,0.031176,,,,130950.60*4A 2021-08-13T13:09:50.430Z,1628860190.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 132.253472 deg, deltaT: 4.481696 s, approachRate: -0.789879 m/s, LOS rate: 0.678252 deg/s, posRepo size: 4 2021-08-13T13:09:50.437Z,1628860190.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.680001 m, bearing: 132.253472 deg, approachRate: -0.789879 m/s, LOS rate: 0.678252 deg/s, cmd update: 2.034757 deg/s, cmd heading: 123.336774 deg, new cmd heading: 123.472182 deg. 2021-08-13T13:09:52.746Z,1628860192.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:53.121Z,1628860193.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:53.121Z,1628860193.121 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:53.121Z,1628860193.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:53.122Z,1628860193.122 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:53.517Z,1628860193.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F48,000,00355,187,80,80,8A,FF 2021-08-13T13:09:53.517Z,1628860193.517 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:53.517Z,1628860193.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:53.519Z,1628860193.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:53.936Z,1628860193.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:54.337Z,1628860194.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00329,186,80,80,BC,FF 2021-08-13T13:09:54.338Z,1628860194.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:54.437Z,1628860194.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:54.769Z,1628860194.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130955.04*51 2021-08-13T13:09:54.800Z,1628860194.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 133.506566 deg, deltaT: 4.491416 s, approachRate: -0.587789 m/s, LOS rate: 0.278997 deg/s, posRepo size: 4 2021-08-13T13:09:54.802Z,1628860194.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.039997 m, bearing: 133.506566 deg, approachRate: -0.587789 m/s, LOS rate: 0.278997 deg/s, cmd update: 0.836992 deg/s, cmd heading: 132.461320 deg, new cmd heading: 133.223936 deg. 2021-08-13T13:09:57.195Z,1628860197.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:09:57.568Z,1628860197.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:09:57.568Z,1628860197.568 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:09:57.568Z,1628860197.568 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:09:57.569Z,1628860197.569 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:09:57.985Z,1628860197.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F92,000,00329,186,80,80,BC,FF 2021-08-13T13:09:57.985Z,1628860197.985 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:09:57.985Z,1628860197.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:09:57.987Z,1628860197.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:09:58.463Z,1628860198.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:09:58.857Z,1628860198.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00312,183,80,80,9A,FF 2021-08-13T13:09:58.858Z,1628860198.858 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:09:58.933Z,1628860198.933 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:09:59.277Z,1628860199.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130959.51*5D 2021-08-13T13:09:59.327Z,1628860199.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 136.044213 deg, deltaT: 4.496557 s, approachRate: -0.306901 m/s, LOS rate: 0.564353 deg/s, posRepo size: 4 2021-08-13T13:09:59.330Z,1628860199.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.660001 m, bearing: 136.044213 deg, approachRate: -0.306901 m/s, LOS rate: 0.564353 deg/s, cmd update: 1.693060 deg/s, cmd heading: 136.224174 deg, new cmd heading: 136.564469 deg. 2021-08-13T13:10:01.721Z,1628860201.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:02.099Z,1628860202.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:02.099Z,1628860202.099 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:02.099Z,1628860202.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:02.100Z,1628860202.100 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:02.503Z,1628860202.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 00E,000,00312,183,80,80,9A,FF 2021-08-13T13:10:02.503Z,1628860202.503 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:02.503Z,1628860202.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:02.505Z,1628860202.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:02.922Z,1628860202.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:03.305Z,1628860203.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,002DE,187,80,80,AD,FF 2021-08-13T13:10:03.306Z,1628860203.306 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:03.362Z,1628860203.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:03.760Z,1628860203.760 [Micromodem](INFO): Nmea in: $SNTTA,0.487044,,,,131004.03*4F 2021-08-13T13:10:03.777Z,1628860203.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 148.935512 deg, deltaT: 4.429038 s, approachRate: -0.704442 m/s, LOS rate: 2.910632 deg/s, posRepo size: 4 2021-08-13T13:10:03.779Z,1628860203.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 148.935512 deg, approachRate: -0.704442 m/s, LOS rate: 2.910632 deg/s, cmd update: 8.731895 deg/s, cmd heading: 143.738892 deg, new cmd heading: 144.445159 deg. 2021-08-13T13:10:06.175Z,1628860206.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:06.537Z,1628860206.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:06.537Z,1628860206.537 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:06.537Z,1628860206.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:06.538Z,1628860206.538 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:06.986Z,1628860206.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F55,000,002DE,187,80,80,AD,FF 2021-08-13T13:10:06.987Z,1628860206.987 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:06.987Z,1628860206.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:06.989Z,1628860206.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:07.349Z,1628860207.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:07.757Z,1628860207.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,002C7,189,80,80,A9,FF 2021-08-13T13:10:07.757Z,1628860207.757 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:07.807Z,1628860207.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:08.217Z,1628860208.217 [Micromodem](INFO): Nmea in: $SNTTA,0.025178,,,,131008.51*46 2021-08-13T13:10:08.317Z,1628860208.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 186.268602 deg, deltaT: 4.444179 s, approachRate: -0.310518 m/s, LOS rate: 8.400447 deg/s, posRepo size: 4 2021-08-13T13:10:08.319Z,1628860208.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.160000 m, bearing: 186.268602 deg, approachRate: -0.310518 m/s, LOS rate: 8.400447 deg/s, cmd update: 12.000000 deg/s, cmd heading: 182.506523 deg, new cmd heading: 187.032875 deg. 2021-08-13T13:10:10.310Z,1628860210.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:10.577Z,1628860210.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:10.577Z,1628860210.577 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:10.577Z,1628860210.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:10.578Z,1628860210.578 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:11.019Z,1628860211.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D5C,000,002C7,189,80,80,A9,FF 2021-08-13T13:10:11.019Z,1628860211.019 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:11.019Z,1628860211.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:11.021Z,1628860211.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:11.388Z,1628860211.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:11.794Z,1628860211.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,002C9,186,80,80,BD,FF 2021-08-13T13:10:11.794Z,1628860211.794 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:11.858Z,1628860211.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:12.219Z,1628860212.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131012.54*5F 2021-08-13T13:10:12.332Z,1628860212.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 146.488351 deg, deltaT: 4.051000 s, approachRate: 0.029622 m/s, LOS rate: -9.819859 deg/s, posRepo size: 4 2021-08-13T13:10:12.334Z,1628860212.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 146.488351 deg, approachRate: 0.029622 m/s, LOS rate: -9.819859 deg/s, cmd update: -12.000000 deg/s, cmd heading: 231.124452 deg, new cmd heading: 236.849040 deg. 2021-08-13T13:10:12.626Z,1628860212.626 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:10:14.670Z,1628860214.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:15.030Z,1628860215.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:15.030Z,1628860215.030 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:15.031Z,1628860215.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:15.031Z,1628860215.031 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:15.421Z,1628860215.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D0,000,002C9,186,80,80,BD,FF 2021-08-13T13:10:15.421Z,1628860215.421 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:15.422Z,1628860215.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:15.423Z,1628860215.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:15.850Z,1628860215.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:16.240Z,1628860216.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,002D3,186,80,80,A7,FF 2021-08-13T13:10:16.266Z,1628860216.266 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:16.376Z,1628860216.376 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:16.678Z,1628860216.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131016.95*56 2021-08-13T13:10:16.734Z,1628860216.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 205.801796 deg, deltaT: 4.518372 s, approachRate: 0.132792 m/s, LOS rate: 13.127172 deg/s, posRepo size: 4 2021-08-13T13:10:16.734Z,1628860216.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.127172 deg/s. Setting heading cmd to target bearing of 205.801796deg and heading rate command to 0 deg/s. 2021-08-13T13:10:19.147Z,1628860219.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:19.469Z,1628860219.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:19.469Z,1628860219.469 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:19.469Z,1628860219.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:19.470Z,1628860219.470 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:19.870Z,1628860219.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBC,000,002D3,186,80,80,A7,FF 2021-08-13T13:10:19.870Z,1628860219.870 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:19.870Z,1628860219.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:19.873Z,1628860219.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:20.318Z,1628860220.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:20.685Z,1628860220.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,002E6,186,80,80,A7,FF 2021-08-13T13:10:20.686Z,1628860220.686 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:20.712Z,1628860220.712 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:21.117Z,1628860221.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131021.40*5A 2021-08-13T13:10:21.160Z,1628860221.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 226.185621 deg, deltaT: 4.336366 s, approachRate: 0.262893 m/s, LOS rate: 4.700670 deg/s, posRepo size: 4 2021-08-13T13:10:21.162Z,1628860221.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.020000 m, bearing: 226.185621 deg, approachRate: 0.262893 m/s, LOS rate: 4.700670 deg/s, cmd update: 12.000000 deg/s, cmd heading: 205.801796 deg, new cmd heading: 205.801796 deg. 2021-08-13T13:10:23.524Z,1628860223.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:23.917Z,1628860223.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:23.917Z,1628860223.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:23.917Z,1628860223.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:23.918Z,1628860223.918 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:24.337Z,1628860224.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E60,000,002E6,186,80,80,A7,FF 2021-08-13T13:10:24.337Z,1628860224.337 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:24.338Z,1628860224.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:24.339Z,1628860224.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:24.735Z,1628860224.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:25.121Z,1628860225.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,00301,187,80,80,86,FF 2021-08-13T13:10:25.121Z,1628860225.121 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:25.220Z,1628860225.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:25.553Z,1628860225.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131025.86*54 2021-08-13T13:10:25.578Z,1628860225.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 231.103658 deg, deltaT: 4.507553 s, approachRate: 0.359396 m/s, LOS rate: 1.091066 deg/s, posRepo size: 4 2021-08-13T13:10:25.581Z,1628860225.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.639998 m, bearing: 231.103658 deg, approachRate: 0.359396 m/s, LOS rate: 1.091066 deg/s, cmd update: 3.273197 deg/s, cmd heading: 259.828005 deg, new cmd heading: 264.260757 deg. 2021-08-13T13:10:28.016Z,1628860228.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:28.358Z,1628860228.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:28.358Z,1628860228.358 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:28.358Z,1628860228.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:28.359Z,1628860228.359 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:28.757Z,1628860228.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7F,000,00301,187,80,80,86,FF 2021-08-13T13:10:28.757Z,1628860228.757 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:28.757Z,1628860228.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:28.759Z,1628860228.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:29.165Z,1628860229.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:29.565Z,1628860229.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00314,186,80,80,53,FF 2021-08-13T13:10:29.565Z,1628860229.565 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:29.585Z,1628860229.585 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:30.029Z,1628860230.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131030.28*54 2021-08-13T13:10:30.081Z,1628860230.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 249.123992 deg, deltaT: 4.365683 s, approachRate: 0.261128 m/s, LOS rate: 4.127724 deg/s, posRepo size: 4 2021-08-13T13:10:30.083Z,1628860230.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.780002 m, bearing: 249.123992 deg, approachRate: 0.261128 m/s, LOS rate: 4.127724 deg/s, cmd update: 12.000000 deg/s, cmd heading: 274.144338 deg, new cmd heading: 275.697843 deg. 2021-08-13T13:10:32.445Z,1628860232.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:32.801Z,1628860232.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:32.801Z,1628860232.801 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:32.801Z,1628860232.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:32.802Z,1628860232.802 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:33.204Z,1628860233.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E60,000,00314,186,80,80,53,FF 2021-08-13T13:10:33.204Z,1628860233.204 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:33.205Z,1628860233.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:33.206Z,1628860233.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:33.608Z,1628860233.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:34.025Z,1628860234.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00324,186,80,80,BD,FF 2021-08-13T13:10:34.025Z,1628860234.025 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:34.109Z,1628860234.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:34.445Z,1628860234.445 [Micromodem](INFO): Nmea in: $SNTTA,0.058671,,,,131034.73*4D 2021-08-13T13:10:34.501Z,1628860234.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 269.744060 deg, deltaT: 4.523318 s, approachRate: 0.212233 m/s, LOS rate: 4.558616 deg/s, posRepo size: 4 2021-08-13T13:10:34.501Z,1628860234.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.74 m. Rolling out. 2021-08-13T13:10:34.502Z,1628860234.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:10:34.870Z,1628860234.870 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:10:34.871Z,1628860234.871 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:10:34.871Z,1628860234.871 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:10:34.871Z,1628860234.871 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:10:34.871Z,1628860234.871 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:10:34.871Z,1628860234.871 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:10:34.871Z,1628860234.871 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:10:36.454Z,1628860236.454 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:10:36.888Z,1628860236.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:37.245Z,1628860237.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:37.245Z,1628860237.245 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:37.246Z,1628860237.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:37.248Z,1628860237.248 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:37.646Z,1628860237.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E49,000,00324,186,80,80,BD,FF 2021-08-13T13:10:37.647Z,1628860237.647 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:37.647Z,1628860237.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:37.673Z,1628860237.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:38.054Z,1628860238.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:38.462Z,1628860238.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E17,000,0032E,187,80,80,A8,FF 2021-08-13T13:10:38.462Z,1628860238.462 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:38.501Z,1628860238.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:38.898Z,1628860238.898 [Micromodem](INFO): Nmea in: $SNTTA,0.025483,,,,131039.20*43 2021-08-13T13:10:38.955Z,1628860238.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 291.337484 deg, deltaT: 4.392073 s, approachRate: 0.136610 m/s, LOS rate: 4.916454 deg/s, posRepo size: 4 2021-08-13T13:10:41.308Z,1628860241.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:41.694Z,1628860241.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:41.695Z,1628860241.695 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:41.695Z,1628860241.695 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:41.696Z,1628860241.696 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:42.097Z,1628860242.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E17,000,0032E,187,80,80,A8,FF 2021-08-13T13:10:42.097Z,1628860242.097 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:42.097Z,1628860242.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:42.099Z,1628860242.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:42.497Z,1628860242.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:42.902Z,1628860242.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,0032D,187,80,80,9D,FF 2021-08-13T13:10:42.902Z,1628860242.902 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:42.921Z,1628860242.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:43.333Z,1628860243.333 [Micromodem](INFO): Nmea in: $SNTTA,0.064760,,,,131043.62*43 2021-08-13T13:10:43.392Z,1628860243.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 308.257256 deg, deltaT: 4.420362 s, approachRate: -0.013573 m/s, LOS rate: 3.827689 deg/s, posRepo size: 4 2021-08-13T13:10:45.746Z,1628860245.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:46.129Z,1628860246.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:46.129Z,1628860246.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:46.129Z,1628860246.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:46.130Z,1628860246.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:46.533Z,1628860246.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF7,000,0032D,187,80,80,9D,FF 2021-08-13T13:10:46.533Z,1628860246.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:46.533Z,1628860246.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:46.535Z,1628860246.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:46.959Z,1628860246.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:47.349Z,1628860247.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0032B,186,80,80,65,FF 2021-08-13T13:10:47.349Z,1628860247.349 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:47.369Z,1628860247.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:47.785Z,1628860247.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131048.06*57 2021-08-13T13:10:47.814Z,1628860247.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 315.746204 deg, deltaT: 4.447659 s, approachRate: -0.026981 m/s, LOS rate: 1.683795 deg/s, posRepo size: 4 2021-08-13T13:10:50.205Z,1628860250.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:50.573Z,1628860250.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:50.573Z,1628860250.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:50.573Z,1628860250.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:50.574Z,1628860250.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:50.989Z,1628860250.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E1B,000,0032B,186,80,80,65,FF 2021-08-13T13:10:50.989Z,1628860250.989 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:50.989Z,1628860250.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:50.990Z,1628860250.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:51.397Z,1628860251.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:51.785Z,1628860251.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00332,186,80,80,74,FF 2021-08-13T13:10:51.786Z,1628860251.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:51.837Z,1628860251.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:52.225Z,1628860252.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131052.52*5D 2021-08-13T13:10:52.314Z,1628860252.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 321.983040 deg, deltaT: 4.467844 s, approachRate: 0.094005 m/s, LOS rate: 1.395939 deg/s, posRepo size: 4 2021-08-13T13:10:54.654Z,1628860254.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:55.037Z,1628860255.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:55.037Z,1628860255.037 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:55.037Z,1628860255.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:55.038Z,1628860255.038 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:55.421Z,1628860255.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E50,000,00332,186,80,80,74,FF 2021-08-13T13:10:55.421Z,1628860255.421 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:55.421Z,1628860255.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:55.423Z,1628860255.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:10:55.840Z,1628860255.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:10:56.225Z,1628860256.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,0032D,187,80,80,6A,FF 2021-08-13T13:10:56.226Z,1628860256.226 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:10:56.334Z,1628860256.334 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:10:56.653Z,1628860256.653 [Micromodem](INFO): Nmea in: $SNTTA,0.319343,0.318843,,,131056.94*59 2021-08-13T13:10:56.703Z,1628860256.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 329.977695 deg, deltaT: 4.497313 s, approachRate: -0.066706 m/s, LOS rate: 1.777651 deg/s, posRepo size: 4 2021-08-13T13:10:59.093Z,1628860259.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:10:59.461Z,1628860259.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:10:59.461Z,1628860259.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:10:59.461Z,1628860259.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:10:59.462Z,1628860259.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:10:59.868Z,1628860259.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E30,000,0032D,187,80,80,6A,FF 2021-08-13T13:10:59.868Z,1628860259.868 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:10:59.869Z,1628860259.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:10:59.871Z,1628860259.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:00.299Z,1628860260.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:00.685Z,1628860260.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00316,186,80,80,70,FF 2021-08-13T13:11:00.686Z,1628860260.686 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:00.705Z,1628860260.705 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:01.120Z,1628860261.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 334.899912 deg, deltaT: 4.370414 s, approachRate: -0.315760 m/s, LOS rate: 1.126259 deg/s, posRepo size: 4 2021-08-13T13:11:03.526Z,1628860263.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:03.918Z,1628860263.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:03.918Z,1628860263.918 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:03.918Z,1628860263.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:03.919Z,1628860263.919 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:04.333Z,1628860264.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E35,000,00316,186,80,80,70,FF 2021-08-13T13:11:04.333Z,1628860264.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:04.333Z,1628860264.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:04.335Z,1628860264.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:04.739Z,1628860264.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:05.121Z,1628860265.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,0030D,187,80,80,84,FF 2021-08-13T13:11:05.121Z,1628860265.121 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:05.192Z,1628860265.192 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:05.549Z,1628860265.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131105.86*57 2021-08-13T13:11:05.584Z,1628860265.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 340.718687 deg, deltaT: 4.487426 s, approachRate: -0.120336 m/s, LOS rate: 1.296684 deg/s, posRepo size: 4 2021-08-13T13:11:08.023Z,1628860268.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:08.349Z,1628860268.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:08.349Z,1628860268.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:08.349Z,1628860268.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:08.350Z,1628860268.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:08.754Z,1628860268.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E21,000,0030D,187,80,80,84,FF 2021-08-13T13:11:08.754Z,1628860268.754 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:08.754Z,1628860268.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:08.757Z,1628860268.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:09.161Z,1628860269.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:09.569Z,1628860269.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,00304,188,80,80,93,FF 2021-08-13T13:11:09.570Z,1628860269.570 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:09.626Z,1628860269.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:10.033Z,1628860270.033 [Micromodem](INFO): Nmea in: $SNTTA,0.048877,,,,131110.28*4D 2021-08-13T13:11:10.061Z,1628860270.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 347.677174 deg, deltaT: 4.434215 s, approachRate: -0.121780 m/s, LOS rate: 1.569272 deg/s, posRepo size: 4 2021-08-13T13:11:12.450Z,1628860272.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:12.793Z,1628860272.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:12.793Z,1628860272.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:12.793Z,1628860272.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:12.794Z,1628860272.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:13.197Z,1628860273.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DDB,000,00304,188,80,80,93,FF 2021-08-13T13:11:13.197Z,1628860273.197 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:13.197Z,1628860273.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:13.199Z,1628860273.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:13.619Z,1628860273.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:14.025Z,1628860274.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,002FD,189,80,80,A5,FF 2021-08-13T13:11:14.025Z,1628860274.025 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:14.078Z,1628860274.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:14.433Z,1628860274.433 [Micromodem](INFO): Nmea in: $SNTTA,0.465911,0.466667,,,131114.73*50 2021-08-13T13:11:14.529Z,1628860274.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 351.170324 deg, deltaT: 4.452093 s, approachRate: -0.094338 m/s, LOS rate: 0.784608 deg/s, posRepo size: 4 2021-08-13T13:11:16.870Z,1628860276.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:17.237Z,1628860277.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:17.237Z,1628860277.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:17.237Z,1628860277.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:17.238Z,1628860277.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:17.653Z,1628860277.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DD8,000,002FD,189,80,80,A5,FF 2021-08-13T13:11:17.653Z,1628860277.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:17.654Z,1628860277.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:17.655Z,1628860277.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:18.053Z,1628860278.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:18.449Z,1628860278.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,002FA,187,80,80,8B,FF 2021-08-13T13:11:18.450Z,1628860278.450 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:18.453Z,1628860278.453 [Micromodem](INFO): Nmea in: $SNTTA,0.202403,0.202509,,,131119.18*56 2021-08-13T13:11:18.460Z,1628860278.460 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:11:18.476Z,1628860278.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:18.902Z,1628860278.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 351.255592 deg, deltaT: 4.397778 s, approachRate: -0.040930 m/s, LOS rate: 0.019389 deg/s, posRepo size: 4 2021-08-13T13:11:21.327Z,1628860281.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:21.687Z,1628860281.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:21.687Z,1628860281.687 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:21.687Z,1628860281.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:21.688Z,1628860281.688 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:22.085Z,1628860282.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E0E,000,002FA,187,80,80,8B,FF 2021-08-13T13:11:22.085Z,1628860282.085 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:22.085Z,1628860282.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:22.087Z,1628860282.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:22.493Z,1628860282.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:22.902Z,1628860282.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,002F1,186,80,80,76,FF 2021-08-13T13:11:22.902Z,1628860282.902 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:22.921Z,1628860282.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:23.341Z,1628860283.341 [Micromodem](INFO): Nmea in: $SNTTA,0.060387,,,,131123.61*4E 2021-08-13T13:11:23.385Z,1628860283.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 353.077996 deg, deltaT: 4.444900 s, approachRate: -0.121487 m/s, LOS rate: 0.409999 deg/s, posRepo size: 4 2021-08-13T13:11:25.746Z,1628860285.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:26.130Z,1628860286.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:26.130Z,1628860286.130 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:26.130Z,1628860286.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:26.131Z,1628860286.131 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:26.529Z,1628860286.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E0B,000,002F1,186,80,80,76,FF 2021-08-13T13:11:26.529Z,1628860286.529 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:26.529Z,1628860286.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:26.531Z,1628860286.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:26.941Z,1628860286.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:27.337Z,1628860287.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00305,186,80,80,A4,FF 2021-08-13T13:11:27.338Z,1628860287.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:27.362Z,1628860287.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:27.773Z,1628860287.773 [Micromodem](INFO): Nmea in: $SNTTA,0.022428,,,,131128.05*43 2021-08-13T13:11:27.805Z,1628860287.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 348.660885 deg, deltaT: 4.441403 s, approachRate: 0.270185 m/s, LOS rate: -0.994531 deg/s, posRepo size: 4 2021-08-13T13:11:28.569Z,1628860288.569 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-08-13T13:11:30.208Z,1628860290.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:30.569Z,1628860290.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:30.569Z,1628860290.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:30.570Z,1628860290.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:30.570Z,1628860290.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:30.000Z,1628860291.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E84,000,00305,186,80,80,A4,FF 2021-08-13T13:11:31.000Z,1628860291.000 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:31.000Z,1628860291.000 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:31.002Z,1628860291.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:31.377Z,1628860291.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:31.785Z,1628860291.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,002ED,186,80,80,B3,FF 2021-08-13T13:11:31.786Z,1628860291.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:31.805Z,1628860291.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:32.209Z,1628860292.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131132.52*5A 2021-08-13T13:11:32.303Z,1628860292.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 352.704767 deg, deltaT: 4.442199 s, approachRate: -0.324164 m/s, LOS rate: 0.910333 deg/s, posRepo size: 4 2021-08-13T13:11:34.309Z,1628860294.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:34.605Z,1628860294.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:34.605Z,1628860294.605 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:34.605Z,1628860294.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:34.606Z,1628860294.606 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:35.029Z,1628860295.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E47,000,002ED,186,80,80,B3,FF 2021-08-13T13:11:35.029Z,1628860295.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:35.029Z,1628860295.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:35.031Z,1628860295.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:35.420Z,1628860295.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:35.817Z,1628860295.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,002ED,187,80,80,A5,FF 2021-08-13T13:11:35.817Z,1628860295.817 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:35.837Z,1628860295.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:36.257Z,1628860296.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131136.56*5A 2021-08-13T13:11:36.327Z,1628860296.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 349.866195 deg, deltaT: 4.032092 s, approachRate: 0.000000 m/s, LOS rate: -0.703995 deg/s, posRepo size: 4 2021-08-13T13:11:38.302Z,1628860298.302 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:11:38.351Z,1628860298.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:38.645Z,1628860298.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:38.645Z,1628860298.645 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:38.645Z,1628860298.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:38.646Z,1628860298.646 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:39.062Z,1628860299.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E94,000,002ED,187,80,80,A5,FF 2021-08-13T13:11:39.062Z,1628860299.062 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:39.062Z,1628860299.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:39.064Z,1628860299.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:39.461Z,1628860299.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:39.857Z,1628860299.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00302,186,80,80,67,FF 2021-08-13T13:11:39.857Z,1628860299.857 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:39.885Z,1628860299.885 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:40.370Z,1628860300.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 342.377193 deg, deltaT: 4.047846 s, approachRate: 0.311276 m/s, LOS rate: -1.850120 deg/s, posRepo size: 4 2021-08-13T13:11:42.405Z,1628860302.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:42.689Z,1628860302.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:42.689Z,1628860302.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:42.690Z,1628860302.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:42.691Z,1628860302.691 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:43.105Z,1628860303.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4F,000,00302,186,80,80,67,FF 2021-08-13T13:11:43.105Z,1628860303.105 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:43.105Z,1628860303.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:43.106Z,1628860303.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:43.504Z,1628860303.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:43.905Z,1628860303.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00319,186,80,80,50,FF 2021-08-13T13:11:43.906Z,1628860303.906 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:43.925Z,1628860303.925 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:44.349Z,1628860304.349 [Micromodem](INFO): Nmea in: $SNTTA,,0.475438,,,131144.63*4E 2021-08-13T13:11:44.433Z,1628860304.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 344.719784 deg, deltaT: 4.040162 s, approachRate: 0.341571 m/s, LOS rate: 0.579826 deg/s, posRepo size: 4 2021-08-13T13:11:46.432Z,1628860306.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:46.729Z,1628860306.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:46.729Z,1628860306.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:46.729Z,1628860306.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:46.730Z,1628860306.730 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:47.129Z,1628860307.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F35,000,00319,186,80,80,50,FF 2021-08-13T13:11:47.129Z,1628860307.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:47.129Z,1628860307.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:47.131Z,1628860307.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:47.537Z,1628860307.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:47.953Z,1628860307.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00302,186,80,80,A1,FF 2021-08-13T13:11:47.954Z,1628860307.954 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:48.042Z,1628860308.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:48.387Z,1628860308.387 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131148.66*50 2021-08-13T13:11:48.395Z,1628860308.395 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:11:48.409Z,1628860308.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 344.091352 deg, deltaT: 4.117532 s, approachRate: -0.335153 m/s, LOS rate: -0.152623 deg/s, posRepo size: 4 2021-08-13T13:11:50.803Z,1628860310.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:51.177Z,1628860311.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:51.177Z,1628860311.177 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:51.177Z,1628860311.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:51.178Z,1628860311.178 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:51.585Z,1628860311.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4D,000,00302,186,80,80,A1,FF 2021-08-13T13:11:51.585Z,1628860311.585 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:51.585Z,1628860311.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:51.587Z,1628860311.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:52.029Z,1628860312.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:52.400Z,1628860312.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00306,185,80,80,51,FF 2021-08-13T13:11:52.401Z,1628860312.401 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:52.439Z,1628860312.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:52.837Z,1628860312.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131153.11*5A 2021-08-13T13:11:52.859Z,1628860312.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 338.015680 deg, deltaT: 4.396884 s, approachRate: 0.054584 m/s, LOS rate: -1.381813 deg/s, posRepo size: 4 2021-08-13T13:11:55.252Z,1628860315.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:11:55.621Z,1628860315.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:11:55.621Z,1628860315.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:11:55.621Z,1628860315.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:11:55.622Z,1628860315.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:11:56.052Z,1628860316.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD3,000,00306,185,80,80,51,FF 2021-08-13T13:11:56.052Z,1628860316.052 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:11:56.053Z,1628860316.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:11:56.054Z,1628860316.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:11:56.457Z,1628860316.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:11:57.266Z,1628860317.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131157.58*53 2021-08-13T13:11:58.053Z,1628860318.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,03611,184,80,80,57,FF 2021-08-13T13:11:58.053Z,1628860318.053 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:11:58.083Z,1628860318.083 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:11:58.494Z,1628860318.494 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:11:58.526Z,1628860318.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 792.960022 m, bearing: 335.007993 deg, deltaT: 5.643881 s, approachRate: 138.915054 m/s, LOS rate: -0.532911 deg/s, posRepo size: 4 2021-08-13T13:11:58.527Z,1628860318.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 792.96 m. Resuming terminal guidance. 2021-08-13T13:11:58.527Z,1628860318.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:11:58.899Z,1628860318.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:11:58.899Z,1628860318.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:11:58.900Z,1628860318.900 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:11:58.901Z,1628860318.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:11:58.901Z,1628860318.901 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:11:58.902Z,1628860318.902 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:11:58.904Z,1628860318.904 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:11:58.905Z,1628860318.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:11:58.905Z,1628860318.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:11:58.905Z,1628860318.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:11:58.905Z,1628860318.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:11:58.905Z,1628860318.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:11:58.905Z,1628860318.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:11:59.317Z,1628860319.317 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:11:59.318Z,1628860319.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:11:59.318Z,1628860319.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:11:59.318Z,1628860319.318 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:12:00.516Z,1628860320.516 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:12:00.994Z,1628860320.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:01.285Z,1628860321.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:01.285Z,1628860321.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:01.285Z,1628860321.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:01.286Z,1628860321.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:01.705Z,1628860321.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01F,000,03611,184,80,80,57,FF 2021-08-13T13:12:01.705Z,1628860321.705 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:01.705Z,1628860321.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:01.708Z,1628860321.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:02.105Z,1628860322.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:02.510Z,1628860322.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00325,185,80,80,91,FF 2021-08-13T13:12:02.510Z,1628860322.510 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:02.933Z,1628860322.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131203.23*5D 2021-08-13T13:12:03.007Z,1628860323.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 339.412864 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:12:03.012Z,1628860323.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 10.80 m. 2021-08-13T13:12:03.013Z,1628860323.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 339.412864deg and heading rate command to 0 deg/s. 2021-08-13T13:12:03.366Z,1628860323.366 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:12:03.411Z,1628860323.411 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:12:03.412Z,1628860323.412 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:12:03.413Z,1628860323.413 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:12:03.414Z,1628860323.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:12:03.415Z,1628860323.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:12:03.415Z,1628860323.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:12:03.769Z,1628860323.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:12:03.769Z,1628860323.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:12:03.769Z,1628860323.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:12:03.770Z,1628860323.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:12:05.089Z,1628860325.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:05.329Z,1628860325.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:05.329Z,1628860325.329 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:05.329Z,1628860325.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:05.330Z,1628860325.330 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:05.730Z,1628860325.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDB,000,00325,185,80,80,91,FF 2021-08-13T13:12:05.730Z,1628860325.730 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:05.730Z,1628860325.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:05.732Z,1628860325.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:06.140Z,1628860326.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:06.545Z,1628860326.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0030D,186,80,80,41,FF 2021-08-13T13:12:06.547Z,1628860326.547 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:06.651Z,1628860326.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:07.001Z,1628860327.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131207.26*5C 2021-08-13T13:12:07.033Z,1628860327.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 352.001695 deg, deltaT: 4.073732 s, approachRate: -0.353485 m/s, LOS rate: 3.090245 deg/s, posRepo size: 2 2021-08-13T13:12:07.034Z,1628860327.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 9.36 m. 2021-08-13T13:12:07.036Z,1628860327.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.359999 m, bearing: 352.001695 deg, approachRate: -0.353485 m/s, LOS rate: 3.090245 deg/s, cmd update: 9.270735 deg/s, cmd heading: 339.412864 deg, new cmd heading: 339.412864 deg. 2021-08-13T13:12:09.387Z,1628860329.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:09.769Z,1628860329.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:09.769Z,1628860329.769 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:09.769Z,1628860329.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:09.770Z,1628860329.770 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:10.181Z,1628860330.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBF,000,0030D,186,80,80,41,FF 2021-08-13T13:12:10.181Z,1628860330.181 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:10.181Z,1628860330.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:10.183Z,1628860330.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:10.692Z,1628860330.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:10.754Z,1628860330.754 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:12:11.086Z,1628860331.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,00341,186,80,80,5E,FF 2021-08-13T13:12:11.086Z,1628860331.086 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:11.117Z,1628860331.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:11.521Z,1628860331.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131211.70*58 2021-08-13T13:12:11.572Z,1628860331.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 351.099235 deg, deltaT: 4.466588 s, approachRate: 0.698520 m/s, LOS rate: -0.202047 deg/s, posRepo size: 3 2021-08-13T13:12:11.573Z,1628860331.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.48 m. 2021-08-13T13:12:11.575Z,1628860331.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.479998 m, bearing: 351.099235 deg, approachRate: 0.698520 m/s, LOS rate: -0.202047 deg/s, cmd update: -0.606140 deg/s, cmd heading: 20.821362 deg, new cmd heading: 25.032427 deg. 2021-08-13T13:12:13.997Z,1628860333.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:14.341Z,1628860334.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:14.341Z,1628860334.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:14.341Z,1628860334.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:14.342Z,1628860334.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:14.745Z,1628860334.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F49,000,00341,186,80,80,5E,FF 2021-08-13T13:12:14.745Z,1628860334.745 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:14.745Z,1628860334.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:14.747Z,1628860334.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:15.121Z,1628860335.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:15.542Z,1628860335.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,0036E,187,80,80,54,FF 2021-08-13T13:12:15.542Z,1628860335.542 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:15.599Z,1628860335.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:16.012Z,1628860336.012 [DDM](ERROR): Could not parse whisker state 2021-08-13T13:12:16.033Z,1628860336.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131216.27*5D 2021-08-13T13:12:16.078Z,1628860336.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 7.853766 deg, deltaT: 4.481686 s, approachRate: 0.602452 m/s, LOS rate: 3.738443 deg/s, posRepo size: 4 2021-08-13T13:12:16.078Z,1628860336.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.18 m. 2021-08-13T13:12:16.081Z,1628860336.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.179998 m, bearing: 7.853766 deg, approachRate: 0.602452 m/s, LOS rate: 3.738443 deg/s, cmd update: 11.215328 deg/s, cmd heading: 18.106941 deg, new cmd heading: 17.812277 deg. 2021-08-13T13:12:18.372Z,1628860338.372 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T13:12:18.389Z,1628860338.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:18.771Z,1628860338.771 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:18.771Z,1628860338.771 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:18.772Z,1628860338.772 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:18.773Z,1628860338.773 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:19.169Z,1628860339.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F07,000,0036E,187,80,80,54,FF 2021-08-13T13:12:19.169Z,1628860339.169 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:19.169Z,1628860339.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:19.171Z,1628860339.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:19.575Z,1628860339.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:19.996Z,1628860339.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,00394,185,80,80,30,FF 2021-08-13T13:12:19.997Z,1628860339.997 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:20.054Z,1628860340.054 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:20.414Z,1628860340.414 [Micromodem](INFO): Nmea in: $SNTTA,0.037571,,,,131220.69*4B 2021-08-13T13:12:20.493Z,1628860340.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 355.352640 deg, deltaT: 4.455115 s, approachRate: 0.511771 m/s, LOS rate: -2.806015 deg/s, posRepo size: 4 2021-08-13T13:12:20.494Z,1628860340.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.46 m. 2021-08-13T13:12:20.494Z,1628860340.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 17.46 m. 2021-08-13T13:12:20.494Z,1628860340.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:12:20.501Z,1628860340.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.459999 m, bearing: 355.352640 deg, approachRate: 0.511771 m/s, LOS rate: -2.806015 deg/s, cmd update: -8.418046 deg/s, cmd heading: 68.118913 deg, new cmd heading: 73.074002 deg. 2021-08-13T13:12:22.858Z,1628860342.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:23.213Z,1628860343.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:23.213Z,1628860343.213 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:23.213Z,1628860343.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:23.214Z,1628860343.214 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:23.620Z,1628860343.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 154,000,00394,185,80,80,30,FF 2021-08-13T13:12:23.621Z,1628860343.621 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:23.621Z,1628860343.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:23.622Z,1628860343.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:24.029Z,1628860344.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:24.413Z,1628860344.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,003CC,187,80,80,60,FF 2021-08-13T13:12:24.414Z,1628860344.414 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:24.502Z,1628860344.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:24.857Z,1628860344.857 [Micromodem](INFO): Nmea in: $SNTTA,0.015885,,,,131225.14*42 2021-08-13T13:12:24.909Z,1628860344.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 50.875975 deg, deltaT: 4.447920 s, approachRate: 0.755410 m/s, LOS rate: 12.482989 deg/s, posRepo size: 4 2021-08-13T13:12:24.910Z,1628860344.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.82 m. Rolling out. 2021-08-13T13:12:24.910Z,1628860344.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:12:25.298Z,1628860345.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:12:25.298Z,1628860345.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:12:25.298Z,1628860345.298 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:12:25.299Z,1628860345.299 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:12:25.299Z,1628860345.299 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:12:25.299Z,1628860345.299 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:12:25.299Z,1628860345.299 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:12:27.286Z,1628860347.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:27.645Z,1628860347.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:27.645Z,1628860347.645 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:27.645Z,1628860347.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:27.646Z,1628860347.646 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:28.057Z,1628860348.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9B,000,003CC,187,80,80,60,FF 2021-08-13T13:12:28.057Z,1628860348.057 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:28.057Z,1628860348.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:28.059Z,1628860348.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:28.461Z,1628860348.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:28.500Z,1628860348.500 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T13:12:28.861Z,1628860348.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,003E2,189,80,80,4C,FF 2021-08-13T13:12:28.861Z,1628860348.861 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:28.918Z,1628860348.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:29.309Z,1628860349.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131229.58*59 2021-08-13T13:12:29.342Z,1628860349.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 10.933724 deg, deltaT: 4.415694 s, approachRate: 0.298934 m/s, LOS rate: -9.045520 deg/s, posRepo size: 4 2021-08-13T13:12:31.702Z,1628860351.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:32.097Z,1628860352.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:32.097Z,1628860352.097 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:32.097Z,1628860352.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:32.098Z,1628860352.098 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:32.519Z,1628860352.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2E3,000,003E2,189,80,80,4C,FF 2021-08-13T13:12:32.519Z,1628860352.519 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:32.519Z,1628860352.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:32.521Z,1628860352.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:32.958Z,1628860352.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:33.338Z,1628860353.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,003FE,186,80,80,78,FF 2021-08-13T13:12:33.338Z,1628860353.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:33.378Z,1628860353.378 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:33.757Z,1628860353.757 [Micromodem](INFO): Nmea in: $SNTTA,0.033273,,,,131234.05*45 2021-08-13T13:12:33.807Z,1628860353.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 64.609403 deg, deltaT: 4.460018 s, approachRate: 0.376679 m/s, LOS rate: 12.034856 deg/s, posRepo size: 4 2021-08-13T13:12:36.186Z,1628860356.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:36.549Z,1628860356.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:36.550Z,1628860356.550 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:36.550Z,1628860356.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:36.551Z,1628860356.551 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:36.970Z,1628860356.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9C,000,003FE,186,80,80,78,FF 2021-08-13T13:12:36.970Z,1628860356.970 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:36.971Z,1628860356.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:36.983Z,1628860356.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:37.405Z,1628860357.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:37.805Z,1628860357.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00425,186,80,80,5A,FF 2021-08-13T13:12:37.805Z,1628860357.805 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:37.825Z,1628860357.825 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:38.237Z,1628860358.237 [Micromodem](INFO): Nmea in: $SNTTA,0.398414,,,,131238.50*4C 2021-08-13T13:12:38.355Z,1628860358.355 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:12:38.407Z,1628860358.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 61.643038 deg, deltaT: 4.446928 s, approachRate: 0.526207 m/s, LOS rate: -0.667059 deg/s, posRepo size: 4 2021-08-13T13:12:40.331Z,1628860360.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:40.634Z,1628860360.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:40.634Z,1628860360.634 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:40.634Z,1628860360.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:40.635Z,1628860360.635 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:41.041Z,1628860361.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9B,000,00425,186,80,80,5A,FF 2021-08-13T13:12:41.041Z,1628860361.041 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:41.041Z,1628860361.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:41.043Z,1628860361.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:41.444Z,1628860361.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:41.846Z,1628860361.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,0043D,186,80,80,5F,FF 2021-08-13T13:12:41.846Z,1628860361.846 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:41.867Z,1628860361.867 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:42.306Z,1628860362.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131242.57*5B 2021-08-13T13:12:42.393Z,1628860362.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 49.470507 deg, deltaT: 4.042259 s, approachRate: 0.356236 m/s, LOS rate: -3.011319 deg/s, posRepo size: 4 2021-08-13T13:12:44.388Z,1628860364.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:44.661Z,1628860364.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:44.661Z,1628860364.661 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:44.662Z,1628860364.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:44.663Z,1628860364.663 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:45.070Z,1628860365.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F42,000,0043D,186,80,80,5F,FF 2021-08-13T13:12:45.070Z,1628860365.070 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:45.070Z,1628860365.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:45.071Z,1628860365.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:45.472Z,1628860365.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:45.886Z,1628860365.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,0044D,185,80,80,7C,FF 2021-08-13T13:12:45.887Z,1628860365.887 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:45.963Z,1628860365.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:46.361Z,1628860366.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131246.59*51 2021-08-13T13:12:46.419Z,1628860366.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 40.545909 deg, deltaT: 4.101180 s, approachRate: 0.234078 m/s, LOS rate: -2.176105 deg/s, posRepo size: 4 2021-08-13T13:12:48.420Z,1628860368.420 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-08-13T13:12:48.420Z,1628860368.420 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-08-13T13:12:48.420Z,1628860368.420 [RDI_Pathfinder](ERROR): Communications Fault 2021-08-13T13:12:48.524Z,1628860368.524 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-08-13T13:12:48.788Z,1628860368.788 [RDI_Pathfinder](INFO): Powering down 2021-08-13T13:12:48.829Z,1628860368.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:49.109Z,1628860369.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:49.109Z,1628860369.109 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:49.109Z,1628860369.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:49.110Z,1628860369.110 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:49.513Z,1628860369.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD1,000,0044D,185,80,80,7C,FF 2021-08-13T13:12:49.513Z,1628860369.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:49.513Z,1628860369.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:49.515Z,1628860369.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:49.718Z,1628860369.718 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-08-13T13:12:49.718Z,1628860369.718 [RDI_Pathfinder] No Fault, FailCount= 1 2021-08-13T13:12:49.955Z,1628860369.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:50.341Z,1628860370.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0046D,184,80,80,3B,FF 2021-08-13T13:12:50.342Z,1628860370.342 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:12:50.361Z,1628860370.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:12:50.773Z,1628860370.773 [Micromodem](INFO): Nmea in: $SNTTA,0.033914,,,,131251.04*4D 2021-08-13T13:12:50.795Z,1628860370.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 33.566654 deg, deltaT: 4.393182 s, approachRate: 0.437041 m/s, LOS rate: -1.588656 deg/s, posRepo size: 4 2021-08-13T13:12:53.193Z,1628860373.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:53.553Z,1628860373.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:53.553Z,1628860373.553 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:53.553Z,1628860373.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:53.554Z,1628860373.554 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:53.962Z,1628860373.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 049,000,0046D,184,80,80,3B,FF 2021-08-13T13:12:53.962Z,1628860373.962 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:53.963Z,1628860373.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:53.970Z,1628860373.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:12:54.380Z,1628860374.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:12:55.210Z,1628860375.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131255.49*52 2021-08-13T13:12:55.574Z,1628860375.574 [Micromodem](INFO): Nmea in: $CARE9330*79 2021-08-13T13:12:55.574Z,1628860375.574 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CARE9330*79 expected 1C 2021-08-13T13:12:56.024Z,1628860376.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:57.601Z,1628860377.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 D,184,80,80,3B,FF 2021-08-13T13:12:57.602Z,1628860377.602 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 D,184,80,80,3B,FF 2021-08-13T13:12:57.602Z,1628860377.602 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:12:58.840Z,1628860378.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:12:59.209Z,1628860379.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:12:59.209Z,1628860379.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:12:59.209Z,1628860379.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:12:59.210Z,1628860379.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:12:59.613Z,1628860379.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 D,184,80,80,3B,FF 2021-08-13T13:12:59.613Z,1628860379.613 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:12:59.613Z,1628860379.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:12:59.615Z,1628860379.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:00.028Z,1628860380.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:00.429Z,1628860380.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,0049B,189,80,80,65,FF 2021-08-13T13:13:00.429Z,1628860380.429 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:00.466Z,1628860380.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:00.866Z,1628860380.866 [Micromodem](INFO): Nmea in: $SNTTA,0.048086,,,,131301.14*46 2021-08-13T13:13:00.920Z,1628860380.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 69.913700 deg, deltaT: 10.104887 s, approachRate: 0.273135 m/s, LOS rate: 3.596977 deg/s, posRepo size: 4 2021-08-13T13:13:03.276Z,1628860383.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:03.665Z,1628860383.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:03.665Z,1628860383.665 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:03.666Z,1628860383.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:03.667Z,1628860383.667 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:04.113Z,1628860384.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D5A,000,0049B,189,80,80,65,FF 2021-08-13T13:13:04.113Z,1628860384.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:04.113Z,1628860384.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:04.115Z,1628860384.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:04.524Z,1628860384.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:04.929Z,1628860384.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,004B1,189,80,80,69,FF 2021-08-13T13:13:04.929Z,1628860384.929 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:04.986Z,1628860384.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:05.357Z,1628860385.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131305.64*59 2021-08-13T13:13:05.412Z,1628860385.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 73.226171 deg, deltaT: 4.520271 s, approachRate: 0.292018 m/s, LOS rate: 0.732804 deg/s, posRepo size: 4 2021-08-13T13:13:07.807Z,1628860387.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:08.149Z,1628860388.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:08.149Z,1628860388.149 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:08.149Z,1628860388.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:08.150Z,1628860388.150 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:08.553Z,1628860388.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D19,000,004B1,189,80,80,69,FF 2021-08-13T13:13:08.553Z,1628860388.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:08.553Z,1628860388.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:08.555Z,1628860388.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:08.986Z,1628860388.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:09.369Z,1628860389.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,004C1,189,80,80,52,FF 2021-08-13T13:13:09.369Z,1628860389.369 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:09.429Z,1628860389.429 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:09.810Z,1628860389.810 [Micromodem](INFO): Nmea in: $SNTTA,0.034803,,,,131310.08*45 2021-08-13T13:13:09.832Z,1628860389.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 72.227522 deg, deltaT: 4.442480 s, approachRate: 0.216096 m/s, LOS rate: -0.224795 deg/s, posRepo size: 4 2021-08-13T13:13:12.268Z,1628860392.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:12.597Z,1628860392.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:12.597Z,1628860392.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:12.597Z,1628860392.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:12.598Z,1628860392.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:13.026Z,1628860393.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D2C,000,004C1,189,80,80,52,FF 2021-08-13T13:13:13.026Z,1628860393.026 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:13.026Z,1628860393.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:13.027Z,1628860393.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:13.424Z,1628860393.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:13.805Z,1628860393.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,004DA,189,80,80,71,FF 2021-08-13T13:13:13.805Z,1628860393.805 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:13.891Z,1628860393.891 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:14.232Z,1628860394.232 [Micromodem](INFO): Nmea in: $SNTTA,0.039625,,,,131314.55*4E 2021-08-13T13:13:14.295Z,1628860394.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 67.183202 deg, deltaT: 4.462053 s, approachRate: 0.336167 m/s, LOS rate: -1.130493 deg/s, posRepo size: 4 2021-08-13T13:13:16.689Z,1628860396.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:17.041Z,1628860397.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:17.041Z,1628860397.041 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:17.041Z,1628860397.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:17.042Z,1628860397.042 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:17.465Z,1628860397.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D92,000,004DA,189,80,80,71,FF 2021-08-13T13:13:17.465Z,1628860397.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:17.465Z,1628860397.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:17.467Z,1628860397.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:17.857Z,1628860397.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:18.269Z,1628860398.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,004E8,189,80,80,7E,FF 2021-08-13T13:13:18.269Z,1628860398.269 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:18.373Z,1628860398.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:18.681Z,1628860398.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131318.99*57 2021-08-13T13:13:18.727Z,1628860398.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 69.423846 deg, deltaT: 4.482071 s, approachRate: 0.187413 m/s, LOS rate: 0.499913 deg/s, posRepo size: 4 2021-08-13T13:13:21.121Z,1628860401.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:21.517Z,1628860401.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:21.517Z,1628860401.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:21.517Z,1628860401.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:21.518Z,1628860401.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:21.905Z,1628860401.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D69,000,004E8,189,80,80,7E,FF 2021-08-13T13:13:21.905Z,1628860401.905 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:21.905Z,1628860401.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:21.907Z,1628860401.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:22.440Z,1628860402.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:22.829Z,1628860402.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,00500,189,80,80,75,FF 2021-08-13T13:13:22.829Z,1628860402.829 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:22.886Z,1628860402.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:23.245Z,1628860403.245 [Micromodem](INFO): Nmea in: $SNTTA,0.005543,,,,131323.43*41 2021-08-13T13:13:23.284Z,1628860403.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 65.507443 deg, deltaT: 4.513482 s, approachRate: 0.319045 m/s, LOS rate: -0.867712 deg/s, posRepo size: 4 2021-08-13T13:13:25.692Z,1628860405.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:26.101Z,1628860406.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:26.101Z,1628860406.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:26.101Z,1628860406.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:26.102Z,1628860406.102 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:26.469Z,1628860406.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DC1,000,00500,189,80,80,75,FF 2021-08-13T13:13:26.469Z,1628860406.469 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:26.469Z,1628860406.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:26.471Z,1628860406.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:26.893Z,1628860406.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:27.277Z,1628860407.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,0050B,187,80,80,9C,FF 2021-08-13T13:13:27.278Z,1628860407.277 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:27.361Z,1628860407.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:27.714Z,1628860407.714 [Micromodem](INFO): Nmea in: $SNTTA,0.041249,,,,131327.99*4F 2021-08-13T13:13:27.736Z,1628860407.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 63.413901 deg, deltaT: 4.474382 s, approachRate: 0.147506 m/s, LOS rate: -0.467895 deg/s, posRepo size: 4 2021-08-13T13:13:30.191Z,1628860410.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:30.513Z,1628860410.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:30.513Z,1628860410.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:30.513Z,1628860410.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:30.514Z,1628860410.514 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:30.929Z,1628860410.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF2,000,0050B,187,80,80,9C,FF 2021-08-13T13:13:30.929Z,1628860410.929 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:30.929Z,1628860410.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:30.931Z,1628860410.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:31.325Z,1628860411.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:31.721Z,1628860411.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00521,186,80,80,5B,FF 2021-08-13T13:13:31.722Z,1628860411.722 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:31.741Z,1628860411.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:13:32.149Z,1628860412.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131332.45*5E 2021-08-13T13:13:32.208Z,1628860412.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 61.196473 deg, deltaT: 4.379730 s, approachRate: 0.301388 m/s, LOS rate: -0.506293 deg/s, posRepo size: 4 2021-08-13T13:13:32.565Z,1628860412.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:13:32.565Z,1628860412.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:13:32.566Z,1628860412.566 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:13:32.567Z,1628860412.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:13:32.567Z,1628860412.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:13:32.567Z,1628860412.567 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:13:33.000Z,1628860413.000 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:13:33.000Z,1628860413.000 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:13:33.000Z,1628860413.000 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:13:33.000Z,1628860413.000 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:13:34.582Z,1628860414.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:34.960Z,1628860414.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:34.961Z,1628860414.961 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:34.961Z,1628860414.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:34.962Z,1628860414.962 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:35.369Z,1628860415.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E0D,000,00521,186,80,80,5B,FF 2021-08-13T13:13:35.369Z,1628860415.369 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:35.369Z,1628860415.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:35.371Z,1628860415.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:35.757Z,1628860415.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:36.165Z,1628860416.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,0052F,187,80,80,74,FF 2021-08-13T13:13:36.166Z,1628860416.166 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:36.589Z,1628860416.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131336.90*52 2021-08-13T13:13:36.605Z,1628860416.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 59.806175 deg, deltaT: 4.527433 s, approachRate: 0.185536 m/s, LOS rate: -0.307083 deg/s, posRepo size: 4 2021-08-13T13:13:37.385Z,1628860417.385 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:13:39.049Z,1628860419.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:39.402Z,1628860419.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:39.402Z,1628860419.402 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:39.402Z,1628860419.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:39.403Z,1628860419.403 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:39.797Z,1628860419.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E21,000,0052F,187,80,80,74,FF 2021-08-13T13:13:39.797Z,1628860419.797 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:39.797Z,1628860419.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:39.799Z,1628860419.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:40.218Z,1628860420.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:40.613Z,1628860420.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00547,186,80,80,7B,FF 2021-08-13T13:13:40.613Z,1628860420.613 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:41.062Z,1628860421.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131341.32*5A 2021-08-13T13:13:41.096Z,1628860421.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 54.172006 deg, deltaT: 4.396986 s, approachRate: 0.327497 m/s, LOS rate: -1.281371 deg/s, posRepo size: 4 2021-08-13T13:13:43.477Z,1628860423.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:43.837Z,1628860423.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:43.837Z,1628860423.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:43.837Z,1628860423.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:43.838Z,1628860423.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:44.244Z,1628860424.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E93,000,00547,186,80,80,7B,FF 2021-08-13T13:13:44.245Z,1628860424.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:44.245Z,1628860424.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:44.247Z,1628860424.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:44.649Z,1628860424.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:45.054Z,1628860425.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00552,186,80,80,64,FF 2021-08-13T13:13:45.055Z,1628860425.055 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:45.497Z,1628860425.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131345.77*5F 2021-08-13T13:13:45.519Z,1628860425.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.220001 m, bearing: 59.018237 deg, deltaT: 4.461755 s, approachRate: 0.147925 m/s, LOS rate: 1.086171 deg/s, posRepo size: 4 2021-08-13T13:13:47.913Z,1628860427.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:48.281Z,1628860428.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:48.281Z,1628860428.281 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:48.281Z,1628860428.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:48.282Z,1628860428.282 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:48.690Z,1628860428.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E37,000,00552,186,80,80,64,FF 2021-08-13T13:13:48.690Z,1628860428.690 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:48.690Z,1628860428.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:48.692Z,1628860428.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:49.104Z,1628860429.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:49.493Z,1628860429.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,00568,186,80,80,70,FF 2021-08-13T13:13:49.493Z,1628860429.493 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:49.942Z,1628860429.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131350.22*5B 2021-08-13T13:13:50.033Z,1628860430.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 55.670837 deg, deltaT: 4.409217 s, approachRate: 0.299373 m/s, LOS rate: -0.759183 deg/s, posRepo size: 4 2021-08-13T13:13:52.407Z,1628860432.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:52.729Z,1628860432.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:52.729Z,1628860432.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:52.729Z,1628860432.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:52.730Z,1628860432.730 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:53.133Z,1628860433.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E72,000,00568,186,80,80,70,FF 2021-08-13T13:13:53.134Z,1628860433.134 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:53.134Z,1628860433.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:53.135Z,1628860433.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:53.537Z,1628860433.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:53.956Z,1628860433.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00575,186,80,80,7A,FF 2021-08-13T13:13:53.957Z,1628860433.957 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:54.377Z,1628860434.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131354.66*5F 2021-08-13T13:13:54.439Z,1628860434.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 49.710677 deg, deltaT: 4.527921 s, approachRate: 0.172264 m/s, LOS rate: -1.316313 deg/s, posRepo size: 4 2021-08-13T13:13:56.794Z,1628860436.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:13:57.169Z,1628860437.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:13:57.169Z,1628860437.169 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:13:57.169Z,1628860437.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:13:57.170Z,1628860437.170 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:13:57.573Z,1628860437.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDC,000,00575,186,80,80,7A,FF 2021-08-13T13:13:57.573Z,1628860437.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:13:57.573Z,1628860437.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:13:57.575Z,1628860437.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:13:57.989Z,1628860437.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:13:58.405Z,1628860438.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,0057F,186,80,80,8A,FF 2021-08-13T13:13:58.405Z,1628860438.405 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:13:58.817Z,1628860438.817 [Micromodem](INFO): Nmea in: $SNTTA,0.214168,,,,131359.10*45 2021-08-13T13:13:58.847Z,1628860438.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 53.568842 deg, deltaT: 4.424256 s, approachRate: 0.135615 m/s, LOS rate: 0.872048 deg/s, posRepo size: 4 2021-08-13T13:14:01.260Z,1628860441.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:01.613Z,1628860441.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:01.613Z,1628860441.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:01.613Z,1628860441.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:01.614Z,1628860441.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:02.041Z,1628860442.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E8E,000,0057F,186,80,80,8A,FF 2021-08-13T13:14:02.041Z,1628860442.041 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:02.041Z,1628860442.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:02.047Z,1628860442.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:02.428Z,1628860442.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:02.849Z,1628860442.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,00593,186,80,80,A2,FF 2021-08-13T13:14:02.850Z,1628860442.850 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:03.257Z,1628860443.257 [Micromodem](INFO): Nmea in: $SNTTA,0.040053,,,,131403.57*44 2021-08-13T13:14:03.295Z,1628860443.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 50.408534 deg, deltaT: 4.438085 s, approachRate: 0.270389 m/s, LOS rate: -0.712088 deg/s, posRepo size: 4 2021-08-13T13:14:05.670Z,1628860445.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:06.100Z,1628860446.100 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:06.101Z,1628860446.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:06.101Z,1628860446.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:06.102Z,1628860446.102 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:06.461Z,1628860446.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED5,000,00593,186,80,80,A2,FF 2021-08-13T13:14:06.461Z,1628860446.461 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:06.461Z,1628860446.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:06.463Z,1628860446.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:06.870Z,1628860446.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:07.274Z,1628860447.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,005A0,186,80,80,A9,FF 2021-08-13T13:14:07.274Z,1628860447.274 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:07.729Z,1628860447.729 [Micromodem](INFO): Nmea in: $SNTTA,0.044862,,,,131407.99*4C 2021-08-13T13:14:07.759Z,1628860447.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 51.646233 deg, deltaT: 4.376172 s, approachRate: 0.178238 m/s, LOS rate: 0.282827 deg/s, posRepo size: 4 2021-08-13T13:14:10.169Z,1628860450.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:10.497Z,1628860450.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:10.497Z,1628860450.497 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:10.497Z,1628860450.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:10.498Z,1628860450.498 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:10.913Z,1628860450.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB8,000,005A0,186,80,80,A9,FF 2021-08-13T13:14:10.913Z,1628860450.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:10.913Z,1628860450.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:10.915Z,1628860450.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:11.425Z,1628860451.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:11.727Z,1628860451.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,005B8,186,80,80,78,FF 2021-08-13T13:14:11.727Z,1628860451.727 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:12.153Z,1628860452.153 [Micromodem](INFO): Nmea in: $SNTTA,0.053115,,,,131412.44*47 2021-08-13T13:14:12.224Z,1628860452.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 47.803821 deg, deltaT: 4.447074 s, approachRate: 0.323808 m/s, LOS rate: -0.864031 deg/s, posRepo size: 4 2021-08-13T13:14:14.558Z,1628860454.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:14.968Z,1628860454.968 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:14.969Z,1628860454.969 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:14.969Z,1628860454.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:14.971Z,1628860454.971 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:15.349Z,1628860455.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F07,000,005B8,186,80,80,78,FF 2021-08-13T13:14:15.349Z,1628860455.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:15.349Z,1628860455.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:15.351Z,1628860455.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:15.774Z,1628860455.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:16.157Z,1628860456.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00601,187,80,80,21,FF 2021-08-13T13:14:16.157Z,1628860456.157 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:16.597Z,1628860456.597 [Micromodem](INFO): Nmea in: $SNTTA,0.076485,,,,131416.87*47 2021-08-13T13:14:16.632Z,1628860456.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.720005 m, bearing: 43.606089 deg, deltaT: 4.500565 s, approachRate: 0.973212 m/s, LOS rate: -0.932712 deg/s, posRepo size: 4 2021-08-13T13:14:19.064Z,1628860459.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:19.389Z,1628860459.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:19.389Z,1628860459.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:19.389Z,1628860459.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:19.390Z,1628860459.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:19.795Z,1628860459.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F61,000,00601,187,80,80,21,FF 2021-08-13T13:14:19.795Z,1628860459.795 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:19.795Z,1628860459.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:19.797Z,1628860459.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:20.201Z,1628860460.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:21.048Z,1628860461.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,0203B,186,80,80,69,FF 2021-08-13T13:14:21.049Z,1628860461.049 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:21.052Z,1628860461.052 [Micromodem](INFO): Nmea in: $SNTTA,0.021173,,,,131421.32*43 2021-08-13T13:14:21.448Z,1628860461.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 457.559998 m, bearing: 53.074490 deg, deltaT: 4.830001 s, approachRate: 83.403709 m/s, LOS rate: 1.960331 deg/s, posRepo size: 4 2021-08-13T13:14:21.448Z,1628860461.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 457.56 m. Resuming terminal guidance. 2021-08-13T13:14:21.448Z,1628860461.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:14:21.847Z,1628860461.847 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:14:21.847Z,1628860461.847 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:14:21.848Z,1628860461.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:14:21.848Z,1628860461.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:14:21.848Z,1628860461.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:14:21.848Z,1628860461.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:14:21.848Z,1628860461.848 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:14:23.903Z,1628860463.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:24.261Z,1628860464.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:24.261Z,1628860464.261 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:24.261Z,1628860464.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:24.262Z,1628860464.262 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:24.669Z,1628860464.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EAB,000,0203B,186,80,80,69,FF 2021-08-13T13:14:24.670Z,1628860464.670 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:24.670Z,1628860464.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:24.671Z,1628860464.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:25.090Z,1628860465.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:25.477Z,1628860465.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,005E3,186,80,80,92,FF 2021-08-13T13:14:25.477Z,1628860465.477 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:25.921Z,1628860465.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131426.19*55 2021-08-13T13:14:25.988Z,1628860465.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 44.310005 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:14:25.989Z,1628860465.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 44.310005deg and heading rate command to 0 deg/s. 2021-08-13T13:14:28.395Z,1628860468.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:28.709Z,1628860468.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:28.709Z,1628860468.709 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:28.710Z,1628860468.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:28.711Z,1628860468.711 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:29.121Z,1628860469.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F47,000,005E3,186,80,80,92,FF 2021-08-13T13:14:29.121Z,1628860469.121 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:29.121Z,1628860469.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:29.123Z,1628860469.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:29.517Z,1628860469.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:29.928Z,1628860469.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00604,186,80,80,89,FF 2021-08-13T13:14:29.929Z,1628860469.929 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:30.357Z,1628860470.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131430.64*58 2021-08-13T13:14:30.414Z,1628860470.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 50.529709 deg, deltaT: 4.496332 s, approachRate: 0.440361 m/s, LOS rate: 1.383284 deg/s, posRepo size: 2 2021-08-13T13:14:30.416Z,1628860470.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.900002 m, bearing: 50.529709 deg, approachRate: 0.440361 m/s, LOS rate: 1.383284 deg/s, cmd update: 4.149851 deg/s, cmd heading: 44.310005 deg, new cmd heading: 44.310005 deg. 2021-08-13T13:14:32.780Z,1628860472.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:33.161Z,1628860473.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:33.161Z,1628860473.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:33.161Z,1628860473.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:33.162Z,1628860473.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:33.553Z,1628860473.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDC,000,00604,186,80,80,89,FF 2021-08-13T13:14:33.553Z,1628860473.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:33.553Z,1628860473.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:33.555Z,1628860473.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:33.987Z,1628860473.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:34.361Z,1628860474.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,0062A,189,80,80,6A,FF 2021-08-13T13:14:34.361Z,1628860474.361 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:34.365Z,1628860474.365 [Micromodem](INFO): Nmea in: $SNTTA,0.142282,0.142382,,,131435.08*56 2021-08-13T13:14:34.820Z,1628860474.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 79.658420 deg, deltaT: 4.436549 s, approachRate: 0.513914 m/s, LOS rate: 6.565624 deg/s, posRepo size: 3 2021-08-13T13:14:34.822Z,1628860474.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.180004 m, bearing: 79.658420 deg, approachRate: 0.513914 m/s, LOS rate: 6.565624 deg/s, cmd update: 12.000000 deg/s, cmd heading: 62.817994 deg, new cmd heading: 64.432190 deg. 2021-08-13T13:14:37.242Z,1628860477.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:37.593Z,1628860477.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:37.593Z,1628860477.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:37.593Z,1628860477.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:37.594Z,1628860477.594 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:38.037Z,1628860478.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D59,000,0062A,189,80,80,6A,FF 2021-08-13T13:14:38.037Z,1628860478.037 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:38.038Z,1628860478.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:38.047Z,1628860478.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:38.451Z,1628860478.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:38.837Z,1628860478.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00660,187,80,80,98,FF 2021-08-13T13:14:38.838Z,1628860478.838 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:39.253Z,1628860479.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131439.57*51 2021-08-13T13:14:39.299Z,1628860479.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 72.179438 deg, deltaT: 4.473954 s, approachRate: 0.724190 m/s, LOS rate: -1.671672 deg/s, posRepo size: 4 2021-08-13T13:14:39.301Z,1628860479.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.419998 m, bearing: 72.179438 deg, approachRate: 0.724190 m/s, LOS rate: -1.671672 deg/s, cmd update: -5.015015 deg/s, cmd heading: 116.361899 deg, new cmd heading: 121.281515 deg. 2021-08-13T13:14:41.682Z,1628860481.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:42.089Z,1628860482.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:42.090Z,1628860482.090 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:42.090Z,1628860482.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:42.091Z,1628860482.091 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:42.459Z,1628860482.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F22,000,00660,187,80,80,98,FF 2021-08-13T13:14:42.459Z,1628860482.459 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:42.459Z,1628860482.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:42.461Z,1628860482.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:42.885Z,1628860482.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:43.273Z,1628860483.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00692,185,80,80,9D,FF 2021-08-13T13:14:43.273Z,1628860483.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:43.716Z,1628860483.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131443.98*5F 2021-08-13T13:14:43.717Z,1628860483.717 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,0*7D expected 5F 2021-08-13T13:14:43.736Z,1628860483.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 99.245975 deg, deltaT: 4.462586 s, approachRate: 0.672258 m/s, LOS rate: 6.065214 deg/s, posRepo size: 4 2021-08-13T13:14:43.738Z,1628860483.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.420006 m, bearing: 99.245975 deg, approachRate: 0.672258 m/s, LOS rate: 6.065214 deg/s, cmd update: 12.000000 deg/s, cmd heading: 93.922817 deg, new cmd heading: 92.054679 deg. 2021-08-13T13:14:46.211Z,1628860486.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:46.493Z,1628860486.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:46.493Z,1628860486.493 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:46.493Z,1628860486.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:46.494Z,1628860486.494 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:46.894Z,1628860486.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E4C,000,00692,185,80,80,9D,FF 2021-08-13T13:14:46.894Z,1628860486.894 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:46.894Z,1628860486.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:46.902Z,1628860486.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:47.313Z,1628860487.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:47.705Z,1628860487.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,006C0,187,80,80,8E,FF 2021-08-13T13:14:47.705Z,1628860487.705 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:48.138Z,1628860488.138 [Micromodem](INFO): Nmea in: $SNTTA,0.043722,0.466488,,,131448.43*52 2021-08-13T13:14:48.209Z,1628860488.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 107.257370 deg, deltaT: 4.417705 s, approachRate: 0.624758 m/s, LOS rate: 1.813475 deg/s, posRepo size: 4 2021-08-13T13:14:48.211Z,1628860488.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.180000 m, bearing: 107.257370 deg, approachRate: 0.624758 m/s, LOS rate: 1.813475 deg/s, cmd update: 5.440424 deg/s, cmd heading: 146.813719 deg, new cmd heading: 152.066143 deg. 2021-08-13T13:14:50.563Z,1628860490.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:50.964Z,1628860490.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:50.965Z,1628860490.965 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:50.965Z,1628860490.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:50.967Z,1628860490.967 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:51.344Z,1628860491.344 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F1F,000,006C0,187,80,80,8E,FF 2021-08-13T13:14:51.344Z,1628860491.344 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:51.345Z,1628860491.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:51.347Z,1628860491.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:51.761Z,1628860491.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:52.158Z,1628860492.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,006DB,189,80,80,8E,FF 2021-08-13T13:14:52.158Z,1628860492.158 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:52.589Z,1628860492.589 [Micromodem](INFO): Nmea in: $SNTTA,0.287736,,,,131452.87*40 2021-08-13T13:14:52.649Z,1628860492.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.800011 m, bearing: 78.520415 deg, deltaT: 4.451667 s, approachRate: 0.363911 m/s, LOS rate: -6.455324 deg/s, posRepo size: 4 2021-08-13T13:14:52.657Z,1628860492.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.800011 m, bearing: 78.520415 deg, approachRate: 0.363911 m/s, LOS rate: -6.455324 deg/s, cmd update: -12.000000 deg/s, cmd heading: 171.045067 deg, new cmd heading: 173.328848 deg. 2021-08-13T13:14:55.057Z,1628860495.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:55.389Z,1628860495.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:55.389Z,1628860495.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:55.390Z,1628860495.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:55.390Z,1628860495.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:14:55.789Z,1628860495.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2BC,000,006DB,189,80,80,8E,FF 2021-08-13T13:14:55.789Z,1628860495.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:14:55.790Z,1628860495.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:14:55.791Z,1628860495.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:14:56.198Z,1628860496.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:14:56.593Z,1628860496.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E00,000,006ED,185,80,80,B3,FF 2021-08-13T13:14:56.594Z,1628860496.594 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:14:57.041Z,1628860497.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131457.31*59 2021-08-13T13:14:57.087Z,1628860497.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.879997 m, bearing: 158.591979 deg, deltaT: 4.414072 s, approachRate: 0.244669 m/s, LOS rate: 18.140067 deg/s, posRepo size: 4 2021-08-13T13:14:57.092Z,1628860497.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.140067 deg/s. Setting heading cmd to target bearing of 158.591979deg and heading rate command to 0 deg/s. 2021-08-13T13:14:59.447Z,1628860499.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:14:59.825Z,1628860499.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:14:59.825Z,1628860499.825 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:14:59.825Z,1628860499.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:14:59.826Z,1628860499.826 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:00.233Z,1628860500.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E00,000,006ED,185,80,80,B3,FF 2021-08-13T13:15:00.233Z,1628860500.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:00.233Z,1628860500.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:00.235Z,1628860500.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:00.636Z,1628860500.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:01.033Z,1628860501.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,006F4,189,80,80,84,FF 2021-08-13T13:15:01.033Z,1628860501.033 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:01.469Z,1628860501.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131501.76*58 2021-08-13T13:15:01.499Z,1628860501.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 110.998982 deg, deltaT: 4.433859 s, approachRate: 0.094727 m/s, LOS rate: -10.733990 deg/s, posRepo size: 4 2021-08-13T13:15:01.501Z,1628860501.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.300003 m, bearing: 110.998982 deg, approachRate: 0.094727 m/s, LOS rate: -10.733990 deg/s, cmd update: -12.000000 deg/s, cmd heading: 158.591979 deg, new cmd heading: 158.591979 deg. 2021-08-13T13:15:03.899Z,1628860503.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:04.265Z,1628860504.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:04.265Z,1628860504.265 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:04.265Z,1628860504.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:04.266Z,1628860504.266 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:04.673Z,1628860504.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B2,000,006F4,189,80,80,84,FF 2021-08-13T13:15:04.673Z,1628860504.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:04.673Z,1628860504.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:04.675Z,1628860504.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:05.077Z,1628860505.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:05.481Z,1628860505.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006F4,18A,80,80,92,FF 2021-08-13T13:15:05.482Z,1628860505.482 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:05.917Z,1628860505.917 [Micromodem](INFO): Nmea in: $SNTTA,0.053429,,,,131506.20*4B 2021-08-13T13:15:06.002Z,1628860506.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 216.310561 deg, deltaT: 4.417408 s, approachRate: 0.000000 m/s, LOS rate: 23.840130 deg/s, posRepo size: 4 2021-08-13T13:15:06.003Z,1628860506.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.840130 deg/s. Setting heading cmd to target bearing of 216.310561deg and heading rate command to 0 deg/s. 2021-08-13T13:15:08.381Z,1628860508.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:08.709Z,1628860508.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:08.709Z,1628860508.709 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:08.709Z,1628860508.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:08.710Z,1628860508.710 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:09.113Z,1628860509.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,006F4,18A,80,80,92,FF 2021-08-13T13:15:09.113Z,1628860509.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:09.113Z,1628860509.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:09.115Z,1628860509.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:09.517Z,1628860509.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:09.943Z,1628860509.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,006F4,189,80,80,3A,FF 2021-08-13T13:15:09.945Z,1628860509.945 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:10.361Z,1628860510.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131510.64*5B 2021-08-13T13:15:10.426Z,1628860510.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 116.484286 deg, deltaT: 4.529374 s, approachRate: 0.000000 m/s, LOS rate: -22.039750 deg/s, posRepo size: 4 2021-08-13T13:15:10.427Z,1628860510.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.039750 deg/s. Setting heading cmd to target bearing of 116.484286deg and heading rate command to 0 deg/s. 2021-08-13T13:15:12.767Z,1628860512.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:13.161Z,1628860513.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:13.161Z,1628860513.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:13.161Z,1628860513.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:13.161Z,1628860513.161 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:13.569Z,1628860513.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 277,000,006F4,189,80,80,3A,FF 2021-08-13T13:15:13.569Z,1628860513.569 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:13.569Z,1628860513.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:13.571Z,1628860513.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:13.988Z,1628860513.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:14.374Z,1628860514.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,006F7,187,80,80,C6,FF 2021-08-13T13:15:14.374Z,1628860514.374 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:14.809Z,1628860514.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131515.09*55 2021-08-13T13:15:14.832Z,1628860514.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 169.292632 deg, deltaT: 4.382962 s, approachRate: 0.041066 m/s, LOS rate: 12.048552 deg/s, posRepo size: 4 2021-08-13T13:15:14.833Z,1628860514.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.048552 deg/s. Setting heading cmd to target bearing of 169.292632deg and heading rate command to 0 deg/s. 2021-08-13T13:15:17.226Z,1628860517.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:17.597Z,1628860517.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:17.597Z,1628860517.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:17.597Z,1628860517.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:17.598Z,1628860517.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:18.045Z,1628860518.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DED,000,006F7,187,80,80,C6,FF 2021-08-13T13:15:18.046Z,1628860518.046 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:18.046Z,1628860518.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:18.061Z,1628860518.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:18.427Z,1628860518.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:18.817Z,1628860518.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,006FD,189,80,80,8E,FF 2021-08-13T13:15:18.818Z,1628860518.818 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:19.291Z,1628860519.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 183.936694 deg, deltaT: 4.428978 s, approachRate: 0.081285 m/s, LOS rate: 3.306420 deg/s, posRepo size: 4 2021-08-13T13:15:19.298Z,1628860519.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.840004 m, bearing: 183.936694 deg, approachRate: 0.081285 m/s, LOS rate: 3.306420 deg/s, cmd update: 9.919260 deg/s, cmd heading: 169.292632 deg, new cmd heading: 169.292632 deg. 2021-08-13T13:15:19.629Z,1628860519.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131519.59*5C 2021-08-13T13:15:21.659Z,1628860521.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:22.064Z,1628860522.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:22.064Z,1628860522.064 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:22.065Z,1628860522.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:22.066Z,1628860522.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:22.445Z,1628860522.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D74,000,006FD,189,80,80,8E,FF 2021-08-13T13:15:22.445Z,1628860522.445 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:22.445Z,1628860522.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:22.447Z,1628860522.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:22.853Z,1628860522.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:23.262Z,1628860523.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00706,185,80,80,84,FF 2021-08-13T13:15:23.262Z,1628860523.262 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:23.693Z,1628860523.693 [Micromodem](INFO): Nmea in: $SNTTA,0.061074,,,,131523.97*4D 2021-08-13T13:15:23.717Z,1628860523.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 167.302601 deg, deltaT: 4.449578 s, approachRate: 0.121360 m/s, LOS rate: -3.738353 deg/s, posRepo size: 4 2021-08-13T13:15:23.719Z,1628860523.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.380005 m, bearing: 167.302601 deg, approachRate: 0.121360 m/s, LOS rate: -3.738353 deg/s, cmd update: -11.215059 deg/s, cmd heading: 213.424848 deg, new cmd heading: 217.668427 deg. 2021-08-13T13:15:26.179Z,1628860526.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:26.485Z,1628860526.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:26.485Z,1628860526.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:26.485Z,1628860526.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:26.486Z,1628860526.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:26.902Z,1628860526.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E3C,000,00706,185,80,80,84,FF 2021-08-13T13:15:26.902Z,1628860526.902 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:26.903Z,1628860526.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:26.905Z,1628860526.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:27.293Z,1628860527.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:27.709Z,1628860527.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFC,000,0070C,18A,80,80,8A,FF 2021-08-13T13:15:27.710Z,1628860527.710 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:28.141Z,1628860528.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131528.43*55 2021-08-13T13:15:28.198Z,1628860528.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 210.353284 deg, deltaT: 4.437828 s, approachRate: 0.081119 m/s, LOS rate: 9.700845 deg/s, posRepo size: 4 2021-08-13T13:15:28.216Z,1628860528.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.739998 m, bearing: 210.353284 deg, approachRate: 0.081119 m/s, LOS rate: 9.700845 deg/s, cmd update: 12.000000 deg/s, cmd heading: 163.650208 deg, new cmd heading: 158.366166 deg. 2021-08-13T13:15:30.551Z,1628860530.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:30.969Z,1628860530.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:30.970Z,1628860530.970 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:30.971Z,1628860530.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:30.972Z,1628860530.972 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:31.341Z,1628860531.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BFC,000,0070C,18A,80,80,8A,FF 2021-08-13T13:15:31.341Z,1628860531.341 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:31.341Z,1628860531.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:31.343Z,1628860531.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:31.765Z,1628860531.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:32.145Z,1628860532.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00708,189,80,80,7E,FF 2021-08-13T13:15:32.145Z,1628860532.145 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:32.589Z,1628860532.589 [Micromodem](INFO): Nmea in: $SNTTA,0.069983,,,,131532.86*44 2021-08-13T13:15:32.612Z,1628860532.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 239.556126 deg, deltaT: 4.498709 s, approachRate: -0.053348 m/s, LOS rate: 6.491383 deg/s, posRepo size: 4 2021-08-13T13:15:32.614Z,1628860532.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.500000 m, bearing: 239.556126 deg, approachRate: -0.053348 m/s, LOS rate: 6.491383 deg/s, cmd update: 12.000000 deg/s, cmd heading: 217.635342 deg, new cmd heading: 222.268398 deg. 2021-08-13T13:15:35.045Z,1628860535.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:35.377Z,1628860535.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:35.377Z,1628860535.377 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:35.378Z,1628860535.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:35.379Z,1628860535.379 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:35.774Z,1628860535.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,00708,189,80,80,7E,FF 2021-08-13T13:15:35.774Z,1628860535.774 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:35.775Z,1628860535.775 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:35.777Z,1628860535.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:36.180Z,1628860536.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:36.592Z,1628860536.592 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,006FA,188,80,80,B1,FF 2021-08-13T13:15:36.593Z,1628860536.593 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:37.037Z,1628860537.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131537.30*5F 2021-08-13T13:15:37.084Z,1628860537.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.659996 m, bearing: 231.432791 deg, deltaT: 4.416819 s, approachRate: -0.190183 m/s, LOS rate: -1.839182 deg/s, posRepo size: 4 2021-08-13T13:15:37.086Z,1628860537.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.659996 m, bearing: 231.432791 deg, approachRate: -0.190183 m/s, LOS rate: -1.839182 deg/s, cmd update: -5.517547 deg/s, cmd heading: 270.444127 deg, new cmd heading: 275.935471 deg. 2021-08-13T13:15:39.427Z,1628860539.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:39.829Z,1628860539.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:39.829Z,1628860539.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:39.829Z,1628860539.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:39.830Z,1628860539.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:40.213Z,1628860540.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CA6,000,006FA,188,80,80,B1,FF 2021-08-13T13:15:40.213Z,1628860540.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:40.213Z,1628860540.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:40.215Z,1628860540.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:40.685Z,1628860540.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:41.057Z,1628860541.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,006E3,189,80,80,AE,FF 2021-08-13T13:15:41.058Z,1628860541.058 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:41.486Z,1628860541.486 [Micromodem](INFO): Nmea in: $SNTTA,0.061179,,,,131541.74*48 2021-08-13T13:15:41.531Z,1628860541.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.279999 m, bearing: 236.321021 deg, deltaT: 4.473133 s, approachRate: -0.308508 m/s, LOS rate: 1.092798 deg/s, posRepo size: 4 2021-08-13T13:15:41.534Z,1628860541.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.279999 m, bearing: 236.321021 deg, approachRate: -0.308508 m/s, LOS rate: 1.092798 deg/s, cmd update: 3.278393 deg/s, cmd heading: 245.677016 deg, new cmd heading: 243.381109 deg. 2021-08-13T13:15:43.938Z,1628860543.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:44.289Z,1628860544.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:44.289Z,1628860544.289 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:44.289Z,1628860544.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:44.290Z,1628860544.290 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:44.706Z,1628860544.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D9F,000,006E3,189,80,80,AE,FF 2021-08-13T13:15:44.706Z,1628860544.706 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:44.706Z,1628860544.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:44.744Z,1628860544.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:45.121Z,1628860545.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:45.501Z,1628860545.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,006C2,187,80,80,89,FF 2021-08-13T13:15:45.501Z,1628860545.501 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:45.939Z,1628860545.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131546.27*5F 2021-08-13T13:15:46.004Z,1628860546.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 235.102023 deg, deltaT: 4.462429 s, approachRate: -0.443704 m/s, LOS rate: -0.273169 deg/s, posRepo size: 4 2021-08-13T13:15:46.006Z,1628860546.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.300003 m, bearing: 235.102023 deg, approachRate: -0.443704 m/s, LOS rate: -0.273169 deg/s, cmd update: -0.819507 deg/s, cmd heading: 260.274558 deg, new cmd heading: 261.703190 deg. 2021-08-13T13:15:48.402Z,1628860548.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:48.729Z,1628860548.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:48.729Z,1628860548.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:48.729Z,1628860548.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:48.730Z,1628860548.730 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:49.149Z,1628860549.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F24,000,006C2,187,80,80,89,FF 2021-08-13T13:15:49.149Z,1628860549.149 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:49.149Z,1628860549.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:49.151Z,1628860549.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:49.554Z,1628860549.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:49.953Z,1628860549.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,006A1,186,80,80,A4,FF 2021-08-13T13:15:49.954Z,1628860549.954 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:50.389Z,1628860550.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131550.67*5C 2021-08-13T13:15:50.475Z,1628860550.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 230.767941 deg, deltaT: 4.521352 s, approachRate: -0.437923 m/s, LOS rate: -0.958581 deg/s, posRepo size: 4 2021-08-13T13:15:50.482Z,1628860550.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.320000 m, bearing: 230.767941 deg, approachRate: -0.437923 m/s, LOS rate: -0.958581 deg/s, cmd update: -2.875744 deg/s, cmd heading: 256.567377 deg, new cmd heading: 256.252819 deg. 2021-08-13T13:15:52.791Z,1628860552.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:53.185Z,1628860553.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:53.185Z,1628860553.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:53.185Z,1628860553.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:53.186Z,1628860553.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:53.589Z,1628860553.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0DD,000,006A1,186,80,80,A4,FF 2021-08-13T13:15:53.590Z,1628860553.590 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:53.590Z,1628860553.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:53.591Z,1628860553.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:54.057Z,1628860554.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:54.404Z,1628860554.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,00681,188,80,80,8C,FF 2021-08-13T13:15:54.405Z,1628860554.405 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:54.830Z,1628860554.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131555.11*58 2021-08-13T13:15:54.846Z,1628860554.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 218.439900 deg, deltaT: 4.322179 s, approachRate: -0.444219 m/s, LOS rate: -2.852274 deg/s, posRepo size: 4 2021-08-13T13:15:54.848Z,1628860554.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.400005 m, bearing: 218.439900 deg, approachRate: -0.444219 m/s, LOS rate: -2.852274 deg/s, cmd update: -8.556823 deg/s, cmd heading: 244.115200 deg, new cmd heading: 242.895537 deg. 2021-08-13T13:15:57.266Z,1628860557.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:15:57.627Z,1628860557.627 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:15:57.627Z,1628860557.627 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:15:57.627Z,1628860557.627 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:15:57.628Z,1628860557.628 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:15:58.058Z,1628860558.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 301,000,00681,188,80,80,8C,FF 2021-08-13T13:15:58.058Z,1628860558.058 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:15:58.059Z,1628860558.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:15:58.074Z,1628860558.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:15:58.479Z,1628860558.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:15:58.863Z,1628860558.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00662,189,80,80,A0,FF 2021-08-13T13:15:58.864Z,1628860558.864 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:15:59.285Z,1628860559.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131559.60*52 2021-08-13T13:15:59.327Z,1628860559.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 223.803579 deg, deltaT: 4.490373 s, approachRate: -0.414220 m/s, LOS rate: 1.194484 deg/s, posRepo size: 4 2021-08-13T13:15:59.333Z,1628860559.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.540005 m, bearing: 223.803579 deg, approachRate: -0.414220 m/s, LOS rate: 1.194484 deg/s, cmd update: 3.583452 deg/s, cmd heading: 205.726861 deg, new cmd heading: 202.138702 deg. 2021-08-13T13:16:01.707Z,1628860561.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:02.117Z,1628860562.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:02.117Z,1628860562.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:02.117Z,1628860562.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:02.118Z,1628860562.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:02.501Z,1628860562.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 24D,000,00662,189,80,80,A0,FF 2021-08-13T13:16:02.502Z,1628860562.502 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:02.502Z,1628860562.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:02.503Z,1628860562.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:02.921Z,1628860562.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:03.735Z,1628860563.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131604.03*5C 2021-08-13T13:16:04.220Z,1628860564.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:06.129Z,1628860566.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,189,80,80,A0,FF 2021-08-13T13:16:06.129Z,1628860566.129 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,189,80,80,A0,FF 2021-08-13T13:16:06.129Z,1628860566.129 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:16:07.002Z,1628860567.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:07.341Z,1628860567.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:07.341Z,1628860567.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:07.341Z,1628860567.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:07.342Z,1628860567.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:07.745Z,1628860567.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,189,80,80,A0,FF 2021-08-13T13:16:07.745Z,1628860567.745 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:07.745Z,1628860567.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:07.747Z,1628860567.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:08.157Z,1628860568.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:08.560Z,1628860568.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00617,187,80,80,AF,FF 2021-08-13T13:16:08.561Z,1628860568.561 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:09.005Z,1628860569.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131609.27*57 2021-08-13T13:16:09.047Z,1628860569.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 233.441058 deg, deltaT: 9.665801 s, approachRate: -0.465560 m/s, LOS rate: 0.997070 deg/s, posRepo size: 4 2021-08-13T13:16:09.050Z,1628860569.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.039997 m, bearing: 233.441058 deg, approachRate: -0.465560 m/s, LOS rate: 0.997070 deg/s, cmd update: 2.991210 deg/s, cmd heading: 240.378096 deg, new cmd heading: 242.061276 deg. 2021-08-13T13:16:11.415Z,1628860571.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:11.785Z,1628860571.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:11.785Z,1628860571.785 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:11.786Z,1628860571.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:11.786Z,1628860571.786 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:12.193Z,1628860572.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F95,000,00617,187,80,80,AF,FF 2021-08-13T13:16:12.193Z,1628860572.193 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:12.193Z,1628860572.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:12.195Z,1628860572.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:12.601Z,1628860572.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:13.021Z,1628860573.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,005F0,186,80,80,B7,FF 2021-08-13T13:16:13.021Z,1628860573.021 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:13.434Z,1628860573.434 [Micromodem](INFO): Nmea in: $SNTTA,0.071264,,,,131613.72*44 2021-08-13T13:16:13.499Z,1628860573.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 227.910340 deg, deltaT: 4.470965 s, approachRate: -0.523375 m/s, LOS rate: -1.237030 deg/s, posRepo size: 4 2021-08-13T13:16:13.505Z,1628860573.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.700005 m, bearing: 227.910340 deg, approachRate: -0.523375 m/s, LOS rate: -1.237030 deg/s, cmd update: -3.711090 deg/s, cmd heading: 253.751292 deg, new cmd heading: 255.099197 deg. 2021-08-13T13:16:15.858Z,1628860575.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:16.233Z,1628860576.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:16.233Z,1628860576.233 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:16.233Z,1628860576.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:16.234Z,1628860576.234 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:16.633Z,1628860576.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 11C,000,005F0,186,80,80,B7,FF 2021-08-13T13:16:16.633Z,1628860576.633 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:16.633Z,1628860576.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:16.635Z,1628860576.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:17.049Z,1628860577.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:17.438Z,1628860577.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,005D5,188,80,80,87,FF 2021-08-13T13:16:17.438Z,1628860577.438 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:17.894Z,1628860577.894 [Micromodem](INFO): Nmea in: $SNTTA,0.058864,,,,131618.16*4C 2021-08-13T13:16:17.919Z,1628860577.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 217.779625 deg, deltaT: 4.439058 s, approachRate: -0.364945 m/s, LOS rate: -2.282177 deg/s, posRepo size: 4 2021-08-13T13:16:17.958Z,1628860577.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.079994 m, bearing: 217.779625 deg, approachRate: -0.364945 m/s, LOS rate: -2.282177 deg/s, cmd update: -6.846530 deg/s, cmd heading: 237.291575 deg, new cmd heading: 235.675985 deg. 2021-08-13T13:16:20.337Z,1628860580.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:20.681Z,1628860580.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:20.681Z,1628860580.681 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:20.682Z,1628860580.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:20.683Z,1628860580.683 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:21.081Z,1628860581.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2E6,000,005D5,188,80,80,87,FF 2021-08-13T13:16:21.081Z,1628860581.081 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:21.081Z,1628860581.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:21.083Z,1628860581.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:21.485Z,1628860581.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:21.886Z,1628860581.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,005B0,189,80,80,5A,FF 2021-08-13T13:16:21.886Z,1628860581.886 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:22.325Z,1628860582.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131622.60*5D 2021-08-13T13:16:22.400Z,1628860582.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 217.766471 deg, deltaT: 4.450329 s, approachRate: -0.498839 m/s, LOS rate: -0.002956 deg/s, posRepo size: 4 2021-08-13T13:16:22.402Z,1628860582.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.859997 m, bearing: 217.766471 deg, approachRate: -0.498839 m/s, LOS rate: -0.002956 deg/s, cmd update: -0.008868 deg/s, cmd heading: 206.822319 deg, new cmd heading: 203.745215 deg. 2021-08-13T13:16:24.750Z,1628860584.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:25.117Z,1628860585.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:25.117Z,1628860585.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:25.117Z,1628860585.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:25.118Z,1628860585.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:25.521Z,1628860585.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 243,000,005B0,189,80,80,5A,FF 2021-08-13T13:16:25.521Z,1628860585.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:25.521Z,1628860585.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:25.523Z,1628860585.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:25.937Z,1628860585.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:26.333Z,1628860586.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0058C,184,80,80,82,FF 2021-08-13T13:16:26.334Z,1628860586.334 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:26.765Z,1628860586.765 [Micromodem](INFO): Nmea in: $SNTTA,0.041147,,,,131627.04*43 2021-08-13T13:16:26.812Z,1628860586.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.700005 m, bearing: 230.561778 deg, deltaT: 4.479077 s, approachRate: -0.482240 m/s, LOS rate: 2.856684 deg/s, posRepo size: 4 2021-08-13T13:16:26.814Z,1628860586.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.700005 m, bearing: 230.561778 deg, approachRate: -0.482240 m/s, LOS rate: 2.856684 deg/s, cmd update: 8.570052 deg/s, cmd heading: 206.782636 deg, new cmd heading: 206.779279 deg. 2021-08-13T13:16:29.201Z,1628860589.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:29.573Z,1628860589.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:29.573Z,1628860589.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:29.573Z,1628860589.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:29.574Z,1628860589.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:29.981Z,1628860589.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,0058C,184,80,80,82,FF 2021-08-13T13:16:29.981Z,1628860589.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:29.981Z,1628860589.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:29.986Z,1628860589.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:30.393Z,1628860590.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:30.778Z,1628860590.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00567,186,80,80,AB,FF 2021-08-13T13:16:30.778Z,1628860590.778 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:31.213Z,1628860591.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131631.51*5D 2021-08-13T13:16:31.272Z,1628860591.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 229.394198 deg, deltaT: 4.382591 s, approachRate: -0.506552 m/s, LOS rate: -0.266413 deg/s, posRepo size: 4 2021-08-13T13:16:31.274Z,1628860591.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.479996 m, bearing: 229.394198 deg, approachRate: -0.506552 m/s, LOS rate: -0.266413 deg/s, cmd update: -0.799239 deg/s, cmd heading: 244.411531 deg, new cmd heading: 248.421081 deg. 2021-08-13T13:16:33.639Z,1628860593.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:34.047Z,1628860594.047 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:34.048Z,1628860594.048 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:34.049Z,1628860594.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:34.050Z,1628860594.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:34.429Z,1628860594.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0F,000,00567,186,80,80,AB,FF 2021-08-13T13:16:34.429Z,1628860594.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:34.429Z,1628860594.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:34.431Z,1628860594.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:34.832Z,1628860594.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:35.230Z,1628860595.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00546,185,80,80,7F,FF 2021-08-13T13:16:35.230Z,1628860595.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:35.654Z,1628860595.654 [Micromodem](INFO): Nmea in: $SNTTA,0.036499,,,,131635.95*4E 2021-08-13T13:16:35.676Z,1628860595.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 226.664650 deg, deltaT: 4.502135 s, approachRate: -0.439790 m/s, LOS rate: -0.606279 deg/s, posRepo size: 4 2021-08-13T13:16:35.678Z,1628860595.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.500000 m, bearing: 226.664650 deg, approachRate: -0.439790 m/s, LOS rate: -0.606279 deg/s, cmd update: -1.818836 deg/s, cmd heading: 240.813221 deg, new cmd heading: 240.514566 deg. 2021-08-13T13:16:38.153Z,1628860598.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:38.451Z,1628860598.451 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:38.451Z,1628860598.451 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:38.451Z,1628860598.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:38.452Z,1628860598.452 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:38.861Z,1628860598.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01D,000,00546,185,80,80,7F,FF 2021-08-13T13:16:38.862Z,1628860598.862 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:38.862Z,1628860598.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:38.863Z,1628860598.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:39.266Z,1628860599.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:39.661Z,1628860599.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,00523,188,80,80,82,FF 2021-08-13T13:16:39.661Z,1628860599.661 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:40.127Z,1628860600.127 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131640.39*55 2021-08-13T13:16:40.197Z,1628860600.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.399998 m, bearing: 217.506814 deg, deltaT: 4.421759 s, approachRate: -0.474925 m/s, LOS rate: -2.071084 deg/s, posRepo size: 4 2021-08-13T13:16:40.199Z,1628860600.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.399998 m, bearing: 217.506814 deg, approachRate: -0.474925 m/s, LOS rate: -2.071084 deg/s, cmd update: -6.213253 deg/s, cmd heading: 232.770863 deg, new cmd heading: 231.917622 deg. 2021-08-13T13:16:42.516Z,1628860602.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:42.893Z,1628860602.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:42.894Z,1628860602.894 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:42.894Z,1628860602.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:42.895Z,1628860602.895 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:43.297Z,1628860603.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 222,000,00523,188,80,80,82,FF 2021-08-13T13:16:43.297Z,1628860603.297 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:43.297Z,1628860603.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:43.299Z,1628860603.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:43.708Z,1628860603.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:44.121Z,1628860604.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D4,000,004FD,186,80,80,6F,FF 2021-08-13T13:16:44.121Z,1628860604.121 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:44.554Z,1628860604.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131644.82*51 2021-08-13T13:16:44.576Z,1628860604.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 217.398692 deg, deltaT: 4.497466 s, approachRate: -0.506952 m/s, LOS rate: -0.024041 deg/s, posRepo size: 4 2021-08-13T13:16:44.576Z,1628860604.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.12 m. 2021-08-13T13:16:44.578Z,1628860604.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.119999 m, bearing: 217.398692 deg, approachRate: -0.506952 m/s, LOS rate: -0.024041 deg/s, cmd update: -0.072122 deg/s, cmd heading: 204.828329 deg, new cmd heading: 202.624513 deg. 2021-08-13T13:16:44.987Z,1628860604.987 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:16:45.031Z,1628860605.031 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:16:45.031Z,1628860605.031 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:16:45.032Z,1628860605.032 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:16:45.032Z,1628860605.032 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:16:45.033Z,1628860605.033 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:16:45.033Z,1628860605.033 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:16:45.038Z,1628860605.038 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T13:16:45.038Z,1628860605.038 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T13:16:45.038Z,1628860605.038 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T13:16:45.038Z,1628860605.038 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T13:16:45.038Z,1628860605.038 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T13:16:45.587Z,1628860605.587 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895 2021-08-13T13:16:45.587Z,1628860605.587 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB 2021-08-13T13:16:45.597Z,1628860605.597 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F91091190EEB10D5B649F6B57F6A5D06454C59D1DCB3860CD148677A4096058C82628B290D6A0 2021-08-13T13:16:45.598Z,1628860605.598 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:16:45.633Z,1628860605.633 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:16:45.634Z,1628860605.634 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:16:45.634Z,1628860605.634 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:16:45.634Z,1628860605.634 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:16:45.894Z,1628860605.894 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:16:46.273Z,1628860606.273 [Micromodem](INFO): Nmea in: $CADRQ,131647,1,10,0,64,1*70 2021-08-13T13:16:46.273Z,1628860606.273 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*48 2021-08-13T13:16:46.674Z,1628860606.674 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:16:46.732Z,1628860606.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:47.045Z,1628860607.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:47.045Z,1628860607.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:47.045Z,1628860607.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:47.046Z,1628860607.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:47.068Z,1628860607.068 [Micromodem](INFO): Nmea in: $CADRQ,131647,1,10,0,64,2*73 2021-08-13T13:16:47.069Z,1628860607.069 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42 2021-08-13T13:16:47.590Z,1628860607.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D4,000,004FD,186,80,80,6F,FF 2021-08-13T13:16:47.590Z,1628860607.590 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:47.590Z,1628860607.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:47.592Z,1628860607.592 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:16:47.593Z,1628860607.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:47.987Z,1628860607.987 [Micromodem](INFO): Nmea in: $CADRQ,131648,1,10,0,64,3*7D 2021-08-13T13:16:47.987Z,1628860607.987 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,131648,1,10,0,64,3*7D 2021-08-13T13:16:48.377Z,1628860608.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,004DB,183,80,80,68,FF 2021-08-13T13:16:48.378Z,1628860608.378 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:48.387Z,1628860608.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:48.465Z,1628860608.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:16:48.850Z,1628860608.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131649.12*55 2021-08-13T13:16:48.877Z,1628860608.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 227.869372 deg, deltaT: 4.241302 s, approachRate: -0.480984 m/s, LOS rate: 2.468742 deg/s, posRepo size: 4 2021-08-13T13:16:48.878Z,1628860608.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.08 m. 2021-08-13T13:16:48.882Z,1628860608.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.080002 m, bearing: 227.869372 deg, approachRate: -0.480984 m/s, LOS rate: 2.468742 deg/s, cmd update: 7.406226 deg/s, cmd heading: 204.522453 deg, new cmd heading: 204.492610 deg. 2021-08-13T13:16:51.419Z,1628860611.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:51.617Z,1628860611.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:51.618Z,1628860611.618 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:51.618Z,1628860611.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:51.618Z,1628860611.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:52.056Z,1628860612.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF1,000,004DB,183,80,80,68,FF 2021-08-13T13:16:52.057Z,1628860612.057 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:52.058Z,1628860612.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:52.067Z,1628860612.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:52.504Z,1628860612.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:52.905Z,1628860612.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,004B7,187,80,80,62,FF 2021-08-13T13:16:52.905Z,1628860612.905 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:53.018Z,1628860613.018 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:16:53.325Z,1628860613.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131653.59*51 2021-08-13T13:16:53.532Z,1628860613.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 229.911189 deg, deltaT: 4.552608 s, approachRate: -0.474453 m/s, LOS rate: 0.448494 deg/s, posRepo size: 4 2021-08-13T13:16:53.533Z,1628860613.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.92 m. 2021-08-13T13:16:53.535Z,1628860613.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.920002 m, bearing: 229.911189 deg, approachRate: -0.474453 m/s, LOS rate: 0.448494 deg/s, cmd update: 1.345482 deg/s, cmd heading: 238.180054 deg, new cmd heading: 242.072418 deg. 2021-08-13T13:16:55.828Z,1628860615.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:16:56.205Z,1628860616.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:16:56.205Z,1628860616.205 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:16:56.205Z,1628860616.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:16:56.206Z,1628860616.206 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:16:56.602Z,1628860616.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC5,000,004B7,187,80,80,62,FF 2021-08-13T13:16:56.602Z,1628860616.602 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:16:56.602Z,1628860616.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:16:56.604Z,1628860616.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:16:57.033Z,1628860617.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:16:57.409Z,1628860617.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00496,186,80,80,67,FF 2021-08-13T13:16:57.410Z,1628860617.410 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:16:57.610Z,1628860617.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:16:57.878Z,1628860617.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131658.13*54 2021-08-13T13:16:57.926Z,1628860617.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 228.291396 deg, deltaT: 4.591993 s, approachRate: -0.431186 m/s, LOS rate: -0.352743 deg/s, posRepo size: 4 2021-08-13T13:16:57.926Z,1628860617.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.94 m. 2021-08-13T13:16:57.927Z,1628860617.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.94 m. 2021-08-13T13:16:57.927Z,1628860617.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:16:57.933Z,1628860617.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.939999 m, bearing: 228.291396 deg, approachRate: -0.431186 m/s, LOS rate: -0.352743 deg/s, cmd update: -1.058229 deg/s, cmd heading: 244.369324 deg, new cmd heading: 244.770928 deg. 2021-08-13T13:17:00.337Z,1628860620.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:00.661Z,1628860620.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:00.661Z,1628860620.661 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:00.661Z,1628860620.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:00.662Z,1628860620.662 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:01.065Z,1628860621.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F92,000,00496,186,80,80,67,FF 2021-08-13T13:17:01.065Z,1628860621.065 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:01.065Z,1628860621.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:01.067Z,1628860621.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:01.476Z,1628860621.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:01.874Z,1628860621.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,00476,186,80,80,7B,FF 2021-08-13T13:17:01.874Z,1628860621.874 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:01.941Z,1628860621.941 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:02.309Z,1628860622.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131702.59*54 2021-08-13T13:17:02.371Z,1628860622.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 224.153408 deg, deltaT: 4.330793 s, approachRate: -0.443336 m/s, LOS rate: -0.955480 deg/s, posRepo size: 4 2021-08-13T13:17:02.374Z,1628860622.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.020002 m, bearing: 224.153408 deg, approachRate: -0.443336 m/s, LOS rate: -0.955480 deg/s, cmd update: -2.866441 deg/s, cmd heading: 239.800611 deg, new cmd heading: 239.327003 deg. 2021-08-13T13:17:04.723Z,1628860624.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:05.117Z,1628860625.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:05.117Z,1628860625.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:05.117Z,1628860625.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:05.118Z,1628860625.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:05.521Z,1628860625.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 111,000,00476,186,80,80,7B,FF 2021-08-13T13:17:05.522Z,1628860625.522 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:05.522Z,1628860625.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:05.523Z,1628860625.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:05.933Z,1628860625.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:06.441Z,1628860626.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,00456,189,80,80,51,FF 2021-08-13T13:17:06.442Z,1628860626.442 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:06.529Z,1628860626.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:06.853Z,1628860626.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131707.05*58 2021-08-13T13:17:06.909Z,1628860626.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 215.385357 deg, deltaT: 4.588011 s, approachRate: -0.418483 m/s, LOS rate: -1.911079 deg/s, posRepo size: 4 2021-08-13T13:17:06.911Z,1628860626.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.099998 m, bearing: 215.385357 deg, approachRate: -0.418483 m/s, LOS rate: -1.911079 deg/s, cmd update: -5.733236 deg/s, cmd heading: 226.610162 deg, new cmd heading: 225.524136 deg. 2021-08-13T13:17:09.321Z,1628860629.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:09.677Z,1628860629.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:09.677Z,1628860629.677 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:09.677Z,1628860629.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:09.678Z,1628860629.678 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:10.109Z,1628860630.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 25B,000,00456,189,80,80,51,FF 2021-08-13T13:17:10.109Z,1628860630.109 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:10.109Z,1628860630.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:10.111Z,1628860630.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:10.657Z,1628860630.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:11.065Z,1628860631.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,00436,186,80,80,83,FF 2021-08-13T13:17:11.065Z,1628860631.065 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:11.158Z,1628860631.158 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:11.470Z,1628860631.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131711.64*58 2021-08-13T13:17:11.537Z,1628860631.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 223.513761 deg, deltaT: 4.629087 s, approachRate: -0.414768 m/s, LOS rate: 1.755941 deg/s, posRepo size: 4 2021-08-13T13:17:11.539Z,1628860631.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.180000 m, bearing: 223.513761 deg, approachRate: -0.414768 m/s, LOS rate: 1.755941 deg/s, cmd update: 5.267823 deg/s, cmd heading: 200.116589 deg, new cmd heading: 197.879887 deg. 2021-08-13T13:17:14.079Z,1628860634.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:14.349Z,1628860634.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:14.349Z,1628860634.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:14.349Z,1628860634.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:14.350Z,1628860634.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:14.737Z,1628860634.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0BB,000,00436,186,80,80,83,FF 2021-08-13T13:17:14.737Z,1628860634.737 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:14.737Z,1628860634.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:14.739Z,1628860634.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:15.156Z,1628860635.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:15.541Z,1628860635.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00415,187,80,80,B1,FF 2021-08-13T13:17:15.542Z,1628860635.542 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:15.562Z,1628860635.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:15.995Z,1628860635.995 [Micromodem](INFO): Nmea in: $SNTTA,0.042072,,,,131716.26*44 2021-08-13T13:17:16.087Z,1628860636.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 225.010091 deg, deltaT: 4.404686 s, approachRate: -0.449522 m/s, LOS rate: 0.339713 deg/s, posRepo size: 4 2021-08-13T13:17:16.089Z,1628860636.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.199999 m, bearing: 225.010091 deg, approachRate: -0.449522 m/s, LOS rate: 0.339713 deg/s, cmd update: 1.019140 deg/s, cmd heading: 223.361979 deg, new cmd heading: 226.142014 deg. 2021-08-13T13:17:17.185Z,1628860637.185 [Micromodem](INFO): Nmea in: $CAERR,131718,DATA_TIMEOUT,3*41 2021-08-13T13:17:17.597Z,1628860637.597 [Micromodem](INFO): Nmea in: $CATXP,128*49 2021-08-13T13:17:18.106Z,1628860638.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:18.381Z,1628860638.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:18.381Z,1628860638.381 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:18.381Z,1628860638.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:18.382Z,1628860638.382 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:18.781Z,1628860638.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F55,000,00415,187,80,80,B1,FF 2021-08-13T13:17:18.781Z,1628860638.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:18.781Z,1628860638.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:18.783Z,1628860638.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:20.406Z,1628860640.406 [Micromodem](INFO): Nmea in: $CATXF,128*5F 2021-08-13T13:17:20.406Z,1628860640.406 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F 2021-08-13T13:17:20.817Z,1628860640.817 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,131718.649310,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6B 2021-08-13T13:17:20.817Z,1628860640.817 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,131718.649310,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6B 2021-08-13T13:17:20.837Z,1628860640.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:22.848Z,1628860642.848 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T13:17:23.239Z,1628860643.239 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-08-13T13:17:23.443Z,1628860643.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:23.646Z,1628860643.646 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813131723.377242,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.4,4.56,10,-1.56,-01,-0.35,47,14500,4000*45 2021-08-13T13:17:23.646Z,1628860643.646 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813131723.377242,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.4,4.56,10,-1.56,-01,-0.35,47,14500,4000*45 2021-08-13T13:17:24.448Z,1628860644.448 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065888 2021-08-13T13:17:26.166Z,1628860646.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:26.462Z,1628860646.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:26.462Z,1628860646.462 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:26.462Z,1628860646.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:26.463Z,1628860646.463 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:26.878Z,1628860646.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F55,000,00415,187,80,80,B1,FF 2021-08-13T13:17:26.879Z,1628860646.879 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:26.879Z,1628860646.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:28.957Z,1628860648.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:30.125Z,1628860650.125 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:30.509Z,1628860650.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:30.911Z,1628860650.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00398,185,80,80,66,FF 2021-08-13T13:17:30.911Z,1628860650.911 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:31.005Z,1628860651.005 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:31.325Z,1628860651.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131731.65*5B 2021-08-13T13:17:31.403Z,1628860651.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 218.145642 deg, deltaT: 15.442512 s, approachRate: -0.485672 m/s, LOS rate: -0.444516 deg/s, posRepo size: 4 2021-08-13T13:17:31.409Z,1628860651.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.700001 m, bearing: 218.145642 deg, approachRate: -0.485672 m/s, LOS rate: -0.444516 deg/s, cmd update: -1.333549 deg/s, cmd heading: 239.095858 deg, new cmd heading: 239.502475 deg. 2021-08-13T13:17:33.748Z,1628860653.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:34.148Z,1628860654.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:34.148Z,1628860654.148 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:34.148Z,1628860654.148 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:34.149Z,1628860654.149 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:34.537Z,1628860654.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 19A,000,00398,185,80,80,66,FF 2021-08-13T13:17:34.537Z,1628860654.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:34.537Z,1628860654.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:34.539Z,1628860654.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:34.990Z,1628860654.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:35.349Z,1628860655.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00377,187,80,80,59,FF 2021-08-13T13:17:35.349Z,1628860655.349 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:35.371Z,1628860655.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:35.813Z,1628860655.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 214.825678 deg, deltaT: 4.366119 s, approachRate: -0.453492 m/s, LOS rate: -0.760392 deg/s, posRepo size: 4 2021-08-13T13:17:35.815Z,1628860655.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.719999 m, bearing: 214.825678 deg, approachRate: -0.453492 m/s, LOS rate: -0.760392 deg/s, cmd update: -2.281177 deg/s, cmd heading: 233.267941 deg, new cmd heading: 232.674848 deg. 2021-08-13T13:17:36.173Z,1628860656.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131736.12*5C 2021-08-13T13:17:38.386Z,1628860658.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:38.621Z,1628860658.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:38.621Z,1628860658.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:38.621Z,1628860658.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:38.622Z,1628860658.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:39.021Z,1628860659.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 213,000,00377,187,80,80,59,FF 2021-08-13T13:17:39.021Z,1628860659.021 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:39.021Z,1628860659.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:39.023Z,1628860659.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:39.401Z,1628860659.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:39.797Z,1628860659.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,190,000,00352,186,80,80,82,FF 2021-08-13T13:17:39.798Z,1628860659.798 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:39.818Z,1628860659.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:40.229Z,1628860660.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131740.55*5E 2021-08-13T13:17:40.301Z,1628860660.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 213.435366 deg, deltaT: 4.447358 s, approachRate: -0.499172 m/s, LOS rate: -0.312615 deg/s, posRepo size: 4 2021-08-13T13:17:40.303Z,1628860660.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.500002 m, bearing: 213.435366 deg, approachRate: -0.499172 m/s, LOS rate: -0.312615 deg/s, cmd update: -0.937846 deg/s, cmd heading: 223.122722 deg, new cmd heading: 222.019401 deg. 2021-08-13T13:17:42.837Z,1628860662.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:43.087Z,1628860663.087 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:43.087Z,1628860663.087 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:43.087Z,1628860663.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:43.088Z,1628860663.088 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:43.485Z,1628860663.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 190,000,00352,186,80,80,82,FF 2021-08-13T13:17:43.485Z,1628860663.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:43.485Z,1628860663.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:43.487Z,1628860663.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:43.905Z,1628860663.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:44.293Z,1628860664.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,0032E,186,80,80,7C,FF 2021-08-13T13:17:44.294Z,1628860664.294 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:44.433Z,1628860664.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:44.732Z,1628860664.732 [Micromodem](INFO): Nmea in: $SNTTA,0.025068,,,,131745.01*4D 2021-08-13T13:17:44.929Z,1628860664.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 213.008083 deg, deltaT: 4.614959 s, approachRate: -0.468044 m/s, LOS rate: -0.092587 deg/s, posRepo size: 4 2021-08-13T13:17:44.931Z,1628860664.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.339997 m, bearing: 213.008083 deg, approachRate: -0.468044 m/s, LOS rate: -0.092587 deg/s, cmd update: -0.277760 deg/s, cmd heading: 218.804280 deg, new cmd heading: 218.327528 deg. 2021-08-13T13:17:47.194Z,1628860667.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:47.545Z,1628860667.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:47.545Z,1628860667.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:47.545Z,1628860667.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:47.546Z,1628860667.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:47.964Z,1628860667.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0D9,000,0032E,186,80,80,7C,FF 2021-08-13T13:17:47.965Z,1628860667.965 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:47.965Z,1628860667.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:47.975Z,1628860667.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:48.357Z,1628860668.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:48.761Z,1628860668.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,0031B,185,80,80,9B,FF 2021-08-13T13:17:48.761Z,1628860668.761 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:48.815Z,1628860668.815 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:49.197Z,1628860669.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131749.50*52 2021-08-13T13:17:49.398Z,1628860669.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 206.386392 deg, deltaT: 4.381481 s, approachRate: -0.260185 m/s, LOS rate: -1.511291 deg/s, posRepo size: 4 2021-08-13T13:17:49.401Z,1628860669.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.200003 m, bearing: 206.386392 deg, approachRate: -0.260185 m/s, LOS rate: -1.511291 deg/s, cmd update: -4.533872 deg/s, cmd heading: 217.585539 deg, new cmd heading: 217.421498 deg. 2021-08-13T13:17:50.794Z,1628860670.794 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:17:51.334Z,1628860671.334 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895 2021-08-13T13:17:51.334Z,1628860671.334 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB 2021-08-13T13:17:51.335Z,1628860671.335 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F91091190EEB10D5B649F6B57F6A5D06454C59D1DCB3860CD148677A4096058C82628B290D6A0 2021-08-13T13:17:51.335Z,1628860671.335 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:17:51.555Z,1628860671.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:51.697Z,1628860671.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:51.697Z,1628860671.697 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:51.698Z,1628860671.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:51.698Z,1628860671.698 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:51.707Z,1628860671.707 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:17:52.113Z,1628860672.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 13E,000,0031B,185,80,80,9B,FF 2021-08-13T13:17:52.113Z,1628860672.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:52.113Z,1628860672.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:52.115Z,1628860672.115 [Micromodem](INFO): Nmea in: $CADRQ,131752,1,10,0,64,1*75 2021-08-13T13:17:52.116Z,1628860672.116 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*48 2021-08-13T13:17:52.509Z,1628860672.509 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:17:52.510Z,1628860672.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:52.907Z,1628860672.907 [Micromodem](INFO): Nmea in: $CADRQ,131753,1,10,0,64,2*77 2021-08-13T13:17:52.907Z,1628860672.907 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,131753,1,10,0,64,2*77 2021-08-13T13:17:53.305Z,1628860673.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,002ED,186,80,80,AC,FF 2021-08-13T13:17:53.306Z,1628860673.306 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:53.310Z,1628860673.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:53.396Z,1628860673.396 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:53.761Z,1628860673.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131754.03*58 2021-08-13T13:17:53.803Z,1628860673.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 205.195617 deg, deltaT: 4.581675 s, approachRate: -0.602400 m/s, LOS rate: -0.259900 deg/s, posRepo size: 4 2021-08-13T13:17:53.806Z,1628860673.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.440001 m, bearing: 205.195617 deg, approachRate: -0.602400 m/s, LOS rate: -0.259900 deg/s, cmd update: -0.779699 deg/s, cmd heading: 196.816797 deg, new cmd heading: 194.935970 deg. 2021-08-13T13:17:56.205Z,1628860676.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:17:56.545Z,1628860676.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:17:56.545Z,1628860676.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:17:56.545Z,1628860676.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:17:56.546Z,1628860676.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:17:56.969Z,1628860676.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 100,000,002ED,186,80,80,AC,FF 2021-08-13T13:17:56.969Z,1628860676.969 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:17:56.969Z,1628860676.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:17:56.979Z,1628860676.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:17:57.353Z,1628860677.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:17:57.781Z,1628860677.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,002CC,185,80,80,B9,FF 2021-08-13T13:17:57.781Z,1628860677.781 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:17:57.835Z,1628860677.835 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:17:58.218Z,1628860678.218 [Micromodem](INFO): Nmea in: $SNTTA,0.069409,,,,131758.50*4E 2021-08-13T13:17:58.299Z,1628860678.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 203.739489 deg, deltaT: 4.447003 s, approachRate: -0.445244 m/s, LOS rate: -0.327440 deg/s, posRepo size: 4 2021-08-13T13:17:58.301Z,1628860678.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.460000 m, bearing: 203.739489 deg, approachRate: -0.445244 m/s, LOS rate: -0.327440 deg/s, cmd update: -0.982321 deg/s, cmd heading: 193.352698 deg, new cmd heading: 192.988194 deg. 2021-08-13T13:18:00.636Z,1628860680.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:01.021Z,1628860681.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:01.021Z,1628860681.021 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:01.021Z,1628860681.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:01.022Z,1628860681.022 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:01.409Z,1628860681.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBC,000,002CC,185,80,80,B9,FF 2021-08-13T13:18:01.410Z,1628860681.410 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:01.410Z,1628860681.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:01.412Z,1628860681.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:01.828Z,1628860681.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:02.298Z,1628860682.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,002BD,189,80,80,AB,FF 2021-08-13T13:18:02.298Z,1628860682.298 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:02.339Z,1628860682.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:02.699Z,1628860682.699 [Micromodem](INFO): Nmea in: $SNTTA,0.039643,,,,131802.94*4F 2021-08-13T13:18:02.733Z,1628860682.733 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-08-13T13:18:02.733Z,1628860682.733 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-08-13T13:18:02.733Z,1628860682.733 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-08-13T13:18:02.733Z,1628860682.733 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T13:18:02.734Z,1628860682.734 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-08-13T13:18:02.734Z,1628860682.734 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 2021-08-13T13:18:02.734Z,1628860682.734 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-08-13T13:18:02.734Z,1628860682.734 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-08-13T13:18:02.735Z,1628860682.735 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-08-13T13:18:02.737Z,1628860682.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 221.271177 deg, deltaT: 4.495054 s, approachRate: -0.200220 m/s, LOS rate: 3.900218 deg/s, posRepo size: 4 2021-08-13T13:18:02.739Z,1628860682.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.559999 m, bearing: 221.271177 deg, approachRate: -0.200220 m/s, LOS rate: 3.900218 deg/s, cmd update: 11.700654 deg/s, cmd heading: 188.932396 deg, new cmd heading: 188.533732 deg. 2021-08-13T13:18:03.173Z,1628860683.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T131803: (41.552319, -70.708603) 2021-08-13T13:18:03.173Z,1628860683.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-08-13T13:18:03.173Z,1628860683.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-08-13T13:18:03.173Z,1628860683.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T13:18:03.174Z,1628860683.174 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-08-13T13:18:03.174Z,1628860683.174 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T13:18:03.174Z,1628860683.174 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-08-13T13:18:03.174Z,1628860683.174 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-08-13T13:18:03.174Z,1628860683.174 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-08-13T13:18:03.539Z,1628860683.539 [UniversalFixResidualReporter](INFO): Fix residual: 13.4 %DT, over the last 1085.9 m. Residual distance 145.0 m at bearing 76.9 degrees. Fix at (41.5510, -70.7055) with 299.0 m made good. 2021-08-13T13:18:04.847Z,1628860684.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:05.209Z,1628860685.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:05.209Z,1628860685.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:05.209Z,1628860685.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:05.210Z,1628860685.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:05.627Z,1628860685.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D69,000,002BD,189,80,80,AB,FF 2021-08-13T13:18:05.627Z,1628860685.627 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:05.628Z,1628860685.628 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:05.629Z,1628860685.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:06.073Z,1628860686.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:06.429Z,1628860686.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,002B8,182,80,80,92,FF 2021-08-13T13:18:06.430Z,1628860686.430 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:06.450Z,1628860686.450 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:06.853Z,1628860686.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131807.15*56 2021-08-13T13:18:06.906Z,1628860686.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 191.568214 deg, deltaT: 4.111235 s, approachRate: -0.072971 m/s, LOS rate: -7.224827 deg/s, posRepo size: 4 2021-08-13T13:18:06.912Z,1628860686.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 191.568214 deg, approachRate: -0.072971 m/s, LOS rate: -7.224827 deg/s, cmd update: -12.000000 deg/s, cmd heading: 237.085933 deg, new cmd heading: 242.454673 deg. 2021-08-13T13:18:09.315Z,1628860689.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:09.666Z,1628860689.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:09.666Z,1628860689.666 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:09.666Z,1628860689.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:09.667Z,1628860689.667 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:10.089Z,1628860690.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE7,000,002B8,182,80,80,92,FF 2021-08-13T13:18:10.089Z,1628860690.089 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:10.089Z,1628860690.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:10.091Z,1628860690.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:10.632Z,1628860690.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:11.037Z,1628860691.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,002E3,183,80,80,A9,FF 2021-08-13T13:18:11.038Z,1628860691.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:11.068Z,1628860691.068 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:11.454Z,1628860691.454 [Micromodem](INFO): Nmea in: $SNTTA,0.037951,,,,131811.61*45 2021-08-13T13:18:11.524Z,1628860691.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 207.389583 deg, deltaT: 4.618244 s, approachRate: 0.558654 m/s, LOS rate: 3.425841 deg/s, posRepo size: 4 2021-08-13T13:18:11.526Z,1628860691.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.839999 m, bearing: 207.389583 deg, approachRate: 0.558654 m/s, LOS rate: 3.425841 deg/s, cmd update: 10.277522 deg/s, cmd heading: 181.669356 deg, new cmd heading: 176.155991 deg. 2021-08-13T13:18:13.917Z,1628860693.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:14.257Z,1628860694.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:14.257Z,1628860694.257 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:14.257Z,1628860694.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:14.258Z,1628860694.258 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:14.673Z,1628860694.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,002E3,183,80,80,A9,FF 2021-08-13T13:18:14.673Z,1628860694.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:14.673Z,1628860694.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:14.675Z,1628860694.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:15.077Z,1628860695.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:15.485Z,1628860695.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,002DF,187,80,80,7D,FF 2021-08-13T13:18:15.485Z,1628860695.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:15.551Z,1628860695.551 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:15.917Z,1628860695.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131816.20*50 2021-08-13T13:18:16.000Z,1628860696.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 245.764003 deg, deltaT: 4.482715 s, approachRate: -0.053539 m/s, LOS rate: 8.560531 deg/s, posRepo size: 4 2021-08-13T13:18:16.002Z,1628860696.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.600000 m, bearing: 245.764003 deg, approachRate: -0.053539 m/s, LOS rate: 8.560531 deg/s, cmd update: 12.000000 deg/s, cmd heading: 227.742799 deg, new cmd heading: 232.353367 deg. 2021-08-13T13:18:18.417Z,1628860698.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:18.725Z,1628860698.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:18.725Z,1628860698.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:18.725Z,1628860698.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:18.725Z,1628860698.725 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:19.129Z,1628860699.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E16,000,002DF,187,80,80,7D,FF 2021-08-13T13:18:19.129Z,1628860699.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:19.129Z,1628860699.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:19.131Z,1628860699.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:19.533Z,1628860699.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:19.545Z,1628860699.545 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:18:19.937Z,1628860699.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,0030F,186,80,80,98,FF 2021-08-13T13:18:19.937Z,1628860699.937 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:20.022Z,1628860700.022 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:20.365Z,1628860700.365 [Micromodem](INFO): Nmea in: $SNTTA,0.034290,,,,131820.65*46 2021-08-13T13:18:20.453Z,1628860700.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 200.999818 deg, deltaT: 4.471701 s, approachRate: 0.644050 m/s, LOS rate: -10.010550 deg/s, posRepo size: 4 2021-08-13T13:18:20.455Z,1628860700.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.479997 m, bearing: 200.999818 deg, approachRate: 0.644050 m/s, LOS rate: -10.010550 deg/s, cmd update: -12.000000 deg/s, cmd heading: 281.169020 deg, new cmd heading: 286.551152 deg. 2021-08-13T13:18:22.361Z,1628860702.361 [Micromodem](INFO): Nmea in: $CAERR,131823,DATA_TIMEOUT,2*47 2021-08-13T13:18:22.775Z,1628860702.775 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-08-13T13:18:22.995Z,1628860702.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:23.180Z,1628860703.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:23.180Z,1628860703.180 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:23.181Z,1628860703.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:23.181Z,1628860703.181 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:23.572Z,1628860703.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 085,000,0030F,186,80,80,98,FF 2021-08-13T13:18:23.573Z,1628860703.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:23.576Z,1628860703.576 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:23.588Z,1628860703.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:24.382Z,1628860704.382 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-08-13T13:18:24.382Z,1628860704.382 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-08-13T13:18:24.791Z,1628860704.791 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,131823.683285,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5D 2021-08-13T13:18:24.791Z,1628860704.791 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,131823.683285,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5D 2021-08-13T13:18:25.613Z,1628860705.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:28.172Z,1628860708.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:29.276Z,1628860709.276 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.094545 2021-08-13T13:18:30.984Z,1628860710.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:31.325Z,1628860711.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:31.325Z,1628860711.325 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:31.325Z,1628860711.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:31.326Z,1628860711.326 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:31.729Z,1628860711.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 085,000,0030F,186,80,80,98,FF 2021-08-13T13:18:31.729Z,1628860711.729 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:31.729Z,1628860711.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:34.005Z,1628860714.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:34.630Z,1628860714.630 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:35.048Z,1628860715.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:35.447Z,1628860715.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,0036F,18A,80,80,93,FF 2021-08-13T13:18:35.448Z,1628860715.448 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:35.504Z,1628860715.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:35.902Z,1628860715.902 [Micromodem](INFO): Nmea in: $SNTTA,0.030631,,,,131836.15*4D 2021-08-13T13:18:36.195Z,1628860716.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 255.493061 deg, deltaT: 15.481584 s, approachRate: 0.372055 m/s, LOS rate: 3.519875 deg/s, posRepo size: 4 2021-08-13T13:18:36.197Z,1628860716.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.240002 m, bearing: 255.493061 deg, approachRate: 0.372055 m/s, LOS rate: 3.519875 deg/s, cmd update: 10.559626 deg/s, cmd heading: 95.350166 deg, new cmd heading: 86.831654 deg. 2021-08-13T13:18:38.085Z,1628860718.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:38.382Z,1628860718.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:38.382Z,1628860718.382 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:38.383Z,1628860718.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:38.384Z,1628860718.384 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:38.781Z,1628860718.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D46,000,0036F,18A,80,80,93,FF 2021-08-13T13:18:38.781Z,1628860718.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:38.781Z,1628860718.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:38.783Z,1628860718.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:39.189Z,1628860719.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:39.597Z,1628860719.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,003A4,186,80,80,6C,FF 2021-08-13T13:18:39.597Z,1628860719.597 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:39.618Z,1628860719.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:40.057Z,1628860720.057 [Micromodem](INFO): Nmea in: $SNTTA,0.052821,,,,131840.30*40 2021-08-13T13:18:40.127Z,1628860720.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 211.330301 deg, deltaT: 4.113837 s, approachRate: 0.773001 m/s, LOS rate: -10.735175 deg/s, posRepo size: 4 2021-08-13T13:18:40.129Z,1628860720.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.420000 m, bearing: 211.330301 deg, approachRate: 0.773001 m/s, LOS rate: -10.735175 deg/s, cmd update: -12.000000 deg/s, cmd heading: 138.961877 deg, new cmd heading: 144.367360 deg. 2021-08-13T13:18:42.134Z,1628860722.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:42.437Z,1628860722.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:42.437Z,1628860722.437 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:42.437Z,1628860722.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:42.438Z,1628860722.438 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:42.845Z,1628860722.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F61,000,003A4,186,80,80,6C,FF 2021-08-13T13:18:42.845Z,1628860722.845 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:42.845Z,1628860722.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:42.847Z,1628860722.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:43.244Z,1628860723.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:43.653Z,1628860723.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,003AF,187,80,80,43,FF 2021-08-13T13:18:43.653Z,1628860723.653 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:43.723Z,1628860723.723 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:44.113Z,1628860724.113 [Micromodem](INFO): Nmea in: $SNTTA,0.055620,,,,131844.37*4B 2021-08-13T13:18:44.177Z,1628860724.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 197.245509 deg, deltaT: 4.104743 s, approachRate: 0.160789 m/s, LOS rate: -3.431346 deg/s, posRepo size: 4 2021-08-13T13:18:44.179Z,1628860724.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.079998 m, bearing: 197.245509 deg, approachRate: 0.160789 m/s, LOS rate: -3.431346 deg/s, cmd update: -10.294038 deg/s, cmd heading: 89.753308 deg, new cmd heading: 84.219735 deg. 2021-08-13T13:18:46.520Z,1628860726.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:46.878Z,1628860726.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:46.878Z,1628860726.878 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:46.878Z,1628860726.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:46.879Z,1628860726.879 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:47.277Z,1628860727.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F38,000,003AF,187,80,80,43,FF 2021-08-13T13:18:47.277Z,1628860727.277 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:47.278Z,1628860727.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:47.279Z,1628860727.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:47.688Z,1628860727.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:48.115Z,1628860728.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,003E0,187,80,80,58,FF 2021-08-13T13:18:48.116Z,1628860728.116 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:48.143Z,1628860728.143 [Micromodem](INFO): Nmea in: $SNTTA,0.318924,0.319049,,,131848.80*52 2021-08-13T13:18:48.239Z,1628860728.239 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:48.551Z,1628860728.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 182.434612 deg, deltaT: 4.516237 s, approachRate: 0.650985 m/s, LOS rate: -3.279477 deg/s, posRepo size: 4 2021-08-13T13:18:48.554Z,1628860728.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.020000 m, bearing: 182.434612 deg, approachRate: 0.650985 m/s, LOS rate: -3.279477 deg/s, cmd update: -9.838432 deg/s, cmd heading: 43.345027 deg, new cmd heading: 39.972237 deg. 2021-08-13T13:18:50.977Z,1628860730.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:51.321Z,1628860731.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:51.321Z,1628860731.321 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:51.321Z,1628860731.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:51.322Z,1628860731.322 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:51.733Z,1628860731.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F09,000,003E0,187,80,80,58,FF 2021-08-13T13:18:51.734Z,1628860731.734 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:51.734Z,1628860731.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:51.736Z,1628860731.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:52.133Z,1628860732.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:52.541Z,1628860732.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,003EA,189,80,80,A3,FF 2021-08-13T13:18:52.541Z,1628860732.541 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:52.561Z,1628860732.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:52.976Z,1628860732.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131853.26*57 2021-08-13T13:18:53.024Z,1628860733.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 119.291795 deg, deltaT: 4.322538 s, approachRate: 0.138807 m/s, LOS rate: -14.607811 deg/s, posRepo size: 4 2021-08-13T13:18:53.025Z,1628860733.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.607811 deg/s. Setting heading cmd to target bearing of 119.291795deg and heading rate command to 0 deg/s. 2021-08-13T13:18:55.534Z,1628860735.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:18:55.774Z,1628860735.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:18:55.774Z,1628860735.774 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:18:55.774Z,1628860735.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:18:55.775Z,1628860735.775 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:18:56.165Z,1628860736.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B4,000,003EA,189,80,80,A3,FF 2021-08-13T13:18:56.165Z,1628860736.165 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:18:56.166Z,1628860736.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:18:56.167Z,1628860736.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:18:56.573Z,1628860736.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:18:56.584Z,1628860736.584 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:18:56.987Z,1628860736.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,003FF,189,80,80,5B,FF 2021-08-13T13:18:56.987Z,1628860736.987 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:18:57.144Z,1628860737.144 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895 2021-08-13T13:18:57.145Z,1628860737.145 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB 2021-08-13T13:18:57.145Z,1628860737.145 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F91091190EEB10D5B649F6B57F6A5D06454C59D1DCB3860CD148677A4096058C82628B290D6A0 2021-08-13T13:18:57.146Z,1628860737.146 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:18:57.236Z,1628860737.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:18:57.413Z,1628860737.413 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:18:57.452Z,1628860737.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 107.982647 deg, deltaT: 4.674712 s, approachRate: 0.269536 m/s, LOS rate: -2.419218 deg/s, posRepo size: 4 2021-08-13T13:18:57.454Z,1628860737.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.880001 m, bearing: 107.982647 deg, approachRate: 0.269536 m/s, LOS rate: -2.419218 deg/s, cmd update: -7.257654 deg/s, cmd heading: 119.291795 deg, new cmd heading: 119.291795 deg. 2021-08-13T13:18:57.805Z,1628860737.805 [Micromodem](INFO): Nmea in: $CADRQ,131858,1,10,0,64,1*70 2021-08-13T13:18:57.806Z,1628860737.806 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*48 2021-08-13T13:18:58.201Z,1628860738.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131857.69*58 2021-08-13T13:18:58.202Z,1628860738.202 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,131857.69*58 2021-08-13T13:18:59.421Z,1628860739.421 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:18:59.811Z,1628860739.811 [Micromodem](INFO): Nmea in: $CADRQ,131859,1,10,0,64,2*72 2021-08-13T13:18:59.811Z,1628860739.811 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42 2021-08-13T13:18:59.937Z,1628860739.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:00.213Z,1628860740.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:00.213Z,1628860740.213 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:00.213Z,1628860740.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:00.214Z,1628860740.214 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:00.221Z,1628860740.221 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:19:00.613Z,1628860740.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 24E,000,003FF,189,80,80,5B,FF 2021-08-13T13:19:00.613Z,1628860740.613 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:00.613Z,1628860740.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:00.615Z,1628860740.615 [Micromodem](INFO): Nmea in: $CADRQ,131901,1,10,0,64,3*7F 2021-08-13T13:19:00.615Z,1628860740.615 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F91091190EEB10D5B649F6B57F6A5D06454C59D1DCB3860CD148677A4096058C82628B290D6A0*36 2021-08-13T13:19:01.030Z,1628860741.030 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T13:19:01.031Z,1628860741.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:01.426Z,1628860741.426 [Micromodem](INFO): Nmea in: $CATXP,188*43 2021-08-13T13:19:01.426Z,1628860741.426 [Micromodem](ERROR): Response from modem unexpected: $CATXP,188*43 2021-08-13T13:19:02.710Z,1628860742.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:05.066Z,1628860745.066 [Micromodem](INFO): Nmea in: $CATXF,188*55 2021-08-13T13:19:05.066Z,1628860745.066 [Micromodem](ERROR): Response from modem unexpected: $CATXF,188*55 2021-08-13T13:19:05.467Z,1628860745.467 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,131902.185120,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*63 2021-08-13T13:19:05.467Z,1628860745.467 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,131902.185120,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*63 2021-08-13T13:19:05.502Z,1628860745.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:06.316Z,1628860746.316 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.101870 2021-08-13T13:19:08.238Z,1628860748.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:08.461Z,1628860748.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:08.461Z,1628860748.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:08.461Z,1628860748.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:08.462Z,1628860748.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:08.471Z,1628860748.471 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T13:19:08.857Z,1628860748.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 24E,000,003FF,189,80,80,5B,FF 2021-08-13T13:19:08.857Z,1628860748.857 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:08.857Z,1628860748.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:08.859Z,1628860748.859 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-08-13T13:19:08.932Z,1628860748.932 [CTD_Seabird](ERROR): Failed to parse device response: .04 2021-08-13T13:19:09.254Z,1628860749.254 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79 2021-08-13T13:19:09.255Z,1628860749.255 [Micromodem](INFO): Sent 180 bytes from file Logs/20210813T123241/Courier0018.lzma.parts 2021-08-13T13:19:09.255Z,1628860749.255 [Micromodem](INFO): Packets left to send: 0 2021-08-13T13:19:09.662Z,1628860749.662 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813131908.798441,06,32767,45,0112,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,26.8,5.51,13,-2.51,-01,0.12,43,14500,4000*69 2021-08-13T13:19:09.662Z,1628860749.662 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813131908.798441,06,32767,45,0112,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,26.8,5.51,13,-2.51,-01,0.12,43,14500,4000*69 2021-08-13T13:19:09.812Z,1628860749.812 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 69661661150000005D00000400260000000000000000151D80030C5669C08C79983D0CF986EE3850415318D895C53360630A4D4D658B3EEEFDDD8200 2021-08-13T13:19:10.917Z,1628860750.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:12.122Z,1628860752.122 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:12.552Z,1628860752.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:12.564Z,1628860752.564 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T13:19:12.968Z,1628860752.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,0041C,189,80,80,8A,FF 2021-08-13T13:19:12.970Z,1628860752.970 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:12.988Z,1628860752.988 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T13:19:13.047Z,1628860753.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:13.382Z,1628860753.382 [Micromodem](INFO): Nmea in: $CADRQ,131914,1,10,0,64,1*79 2021-08-13T13:19:13.382Z,1628860753.382 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661150000005D00000400260000000000000000151D80030C5669C08C79983D0CF986EE3850415318D895C53360630A4D4D658B3EEEFDDD8200*33 2021-08-13T13:19:13.491Z,1628860753.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 113.682645 deg, deltaT: 15.810834 s, approachRate: 0.110051 m/s, LOS rate: 0.360512 deg/s, posRepo size: 4 2021-08-13T13:19:13.504Z,1628860753.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.619999 m, bearing: 113.682645 deg, approachRate: 0.110051 m/s, LOS rate: 0.360512 deg/s, cmd update: 1.081536 deg/s, cmd heading: 4.551166 deg, new cmd heading: 1.274734 deg. 2021-08-13T13:19:13.769Z,1628860753.769 [Micromodem](INFO): Nmea in: $SNTTA,0.041246,,,,131913.65*4E 2021-08-13T13:19:13.770Z,1628860753.770 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.041246,,,,131913.65*4E 2021-08-13T13:19:15.001Z,1628860755.001 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T13:19:15.397Z,1628860755.397 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T13:19:15.770Z,1628860755.770 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T13:19:15.813Z,1628860755.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:16.177Z,1628860756.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:16.177Z,1628860756.177 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:16.177Z,1628860756.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:16.178Z,1628860756.178 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:16.189Z,1628860756.189 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,131914.928880,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F 2021-08-13T13:19:16.577Z,1628860756.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D6A,000,0041C,189,80,80,8A,FF 2021-08-13T13:19:16.577Z,1628860756.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:16.577Z,1628860756.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:16.579Z,1628860756.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:17.009Z,1628860757.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:17.810Z,1628860757.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131918.10*5C 2021-08-13T13:19:18.841Z,1628860758.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:20.209Z,1628860760.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,8A,FF 2021-08-13T13:19:20.209Z,1628860760.209 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,8A,FF 2021-08-13T13:19:20.210Z,1628860760.210 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:19:21.459Z,1628860761.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:21.837Z,1628860761.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:21.837Z,1628860761.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:21.837Z,1628860761.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:21.838Z,1628860761.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:22.233Z,1628860762.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,8A,FF 2021-08-13T13:19:22.233Z,1628860762.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:22.233Z,1628860762.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:22.235Z,1628860762.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:22.650Z,1628860762.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:23.053Z,1628860763.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00410,189,80,80,71,FF 2021-08-13T13:19:23.054Z,1628860763.054 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:23.123Z,1628860763.123 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:23.482Z,1628860763.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131923.76*54 2021-08-13T13:19:23.497Z,1628860763.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 341.148469 deg, deltaT: 10.075853 s, approachRate: -0.071458 m/s, LOS rate: -13.153644 deg/s, posRepo size: 4 2021-08-13T13:19:23.498Z,1628860763.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.153644 deg/s. Setting heading cmd to target bearing of 341.148469deg and heading rate command to 0 deg/s. 2021-08-13T13:19:25.916Z,1628860765.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:26.277Z,1628860766.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:26.277Z,1628860766.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:26.277Z,1628860766.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:26.278Z,1628860766.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:26.682Z,1628860766.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00410,189,80,80,71,FF 2021-08-13T13:19:26.682Z,1628860766.682 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:26.682Z,1628860766.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:26.684Z,1628860766.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:27.088Z,1628860767.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:27.489Z,1628860767.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A4,000,003FF,189,80,80,6D,FF 2021-08-13T13:19:27.489Z,1628860767.489 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:27.510Z,1628860767.510 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:27.921Z,1628860767.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131928.21*5D 2021-08-13T13:19:28.002Z,1628860768.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 330.224647 deg, deltaT: 4.387064 s, approachRate: -0.232501 m/s, LOS rate: -2.490007 deg/s, posRepo size: 4 2021-08-13T13:19:28.022Z,1628860768.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.880001 m, bearing: 330.224647 deg, approachRate: -0.232501 m/s, LOS rate: -2.490007 deg/s, cmd update: -7.470023 deg/s, cmd heading: 341.148469 deg, new cmd heading: 341.148469 deg. 2021-08-13T13:19:30.382Z,1628860770.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:30.729Z,1628860770.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:30.729Z,1628860770.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:30.729Z,1628860770.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:30.730Z,1628860770.730 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:31.129Z,1628860771.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4A4,000,003FF,189,80,80,6D,FF 2021-08-13T13:19:31.129Z,1628860771.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:31.129Z,1628860771.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:31.131Z,1628860771.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:31.529Z,1628860771.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:32.350Z,1628860772.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131932.65*56 2021-08-13T13:19:33.188Z,1628860773.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:34.757Z,1628860774.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 F,189,80,80,6D,FF 2021-08-13T13:19:34.757Z,1628860774.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 F,189,80,80,6D,FF 2021-08-13T13:19:34.757Z,1628860774.757 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:19:36.106Z,1628860776.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:36.370Z,1628860776.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:36.370Z,1628860776.370 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:36.371Z,1628860776.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:36.372Z,1628860776.372 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:36.786Z,1628860776.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 F,189,80,80,6D,FF 2021-08-13T13:19:36.786Z,1628860776.786 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:36.787Z,1628860776.787 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:36.789Z,1628860776.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:37.188Z,1628860777.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:37.593Z,1628860777.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,003C0,189,80,80,77,FF 2021-08-13T13:19:37.594Z,1628860777.594 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:37.651Z,1628860777.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:38.080Z,1628860778.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131938.31*5D 2021-08-13T13:19:38.294Z,1628860778.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 307.290020 deg, deltaT: 10.140712 s, approachRate: -0.372755 m/s, LOS rate: -2.261639 deg/s, posRepo size: 4 2021-08-13T13:19:38.296Z,1628860778.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.100002 m, bearing: 307.290020 deg, approachRate: -0.372755 m/s, LOS rate: -2.261639 deg/s, cmd update: -6.784916 deg/s, cmd heading: 265.546718 deg, new cmd heading: 260.567081 deg. 2021-08-13T13:19:40.287Z,1628860780.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:40.409Z,1628860780.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:40.409Z,1628860780.409 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:40.409Z,1628860780.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:40.410Z,1628860780.410 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:40.832Z,1628860780.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 395,000,003C0,189,80,80,77,FF 2021-08-13T13:19:40.832Z,1628860780.832 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:40.832Z,1628860780.832 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:40.835Z,1628860780.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:41.232Z,1628860781.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:41.625Z,1628860781.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,003A8,188,80,80,BE,FF 2021-08-13T13:19:41.626Z,1628860781.626 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:41.685Z,1628860781.685 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:42.101Z,1628860782.101 [Micromodem](INFO): Nmea in: $SNTTA,0.041137,,,,131942.36*49 2021-08-13T13:19:42.180Z,1628860782.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 298.716220 deg, deltaT: 4.034734 s, approachRate: -0.356902 m/s, LOS rate: -2.124998 deg/s, posRepo size: 4 2021-08-13T13:19:42.182Z,1628860782.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.659996 m, bearing: 298.716220 deg, approachRate: -0.356902 m/s, LOS rate: -2.124998 deg/s, cmd update: -6.374993 deg/s, cmd heading: 238.062875 deg, new cmd heading: 234.660416 deg. 2021-08-13T13:19:44.201Z,1628860784.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:44.449Z,1628860784.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:44.449Z,1628860784.449 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:44.449Z,1628860784.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:44.450Z,1628860784.450 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:44.854Z,1628860784.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 301,000,003A8,188,80,80,BE,FF 2021-08-13T13:19:44.854Z,1628860784.854 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:44.854Z,1628860784.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:44.857Z,1628860784.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:45.267Z,1628860785.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:45.662Z,1628860785.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,00386,188,80,80,71,FF 2021-08-13T13:19:45.663Z,1628860785.663 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:45.739Z,1628860785.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:46.129Z,1628860786.129 [Micromodem](INFO): Nmea in: $SNTTA,0.042476,,,,131946.38*40 2021-08-13T13:19:46.219Z,1628860786.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 293.078663 deg, deltaT: 4.053786 s, approachRate: -0.503233 m/s, LOS rate: -1.390689 deg/s, posRepo size: 4 2021-08-13T13:19:46.226Z,1628860786.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.619999 m, bearing: 293.078663 deg, approachRate: -0.503233 m/s, LOS rate: -1.390689 deg/s, cmd update: -4.172067 deg/s, cmd heading: 212.194122 deg, new cmd heading: 209.113235 deg. 2021-08-13T13:19:48.521Z,1628860788.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:48.890Z,1628860788.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:48.890Z,1628860788.890 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:48.890Z,1628860788.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:48.891Z,1628860788.891 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:49.301Z,1628860789.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 233,000,00386,188,80,80,71,FF 2021-08-13T13:19:49.301Z,1628860789.301 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:49.301Z,1628860789.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:49.303Z,1628860789.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:49.715Z,1628860789.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:50.117Z,1628860790.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00362,186,80,80,8A,FF 2021-08-13T13:19:50.117Z,1628860790.117 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:50.217Z,1628860790.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:50.553Z,1628860790.553 [Micromodem](INFO): Nmea in: $SNTTA,0.048620,,,,131950.83*4C 2021-08-13T13:19:50.628Z,1628860790.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 284.602590 deg, deltaT: 4.477869 s, approachRate: -0.482372 m/s, LOS rate: -1.892881 deg/s, posRepo size: 4 2021-08-13T13:19:50.630Z,1628860790.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.459998 m, bearing: 284.602590 deg, approachRate: -0.482372 m/s, LOS rate: -1.892881 deg/s, cmd update: -5.678643 deg/s, cmd heading: 193.512176 deg, new cmd heading: 191.802630 deg. 2021-08-13T13:19:53.191Z,1628860793.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:53.341Z,1628860793.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:53.341Z,1628860793.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:53.341Z,1628860793.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:53.342Z,1628860793.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:53.741Z,1628860793.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 176,000,00362,186,80,80,8A,FF 2021-08-13T13:19:53.741Z,1628860793.741 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:53.741Z,1628860793.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:53.743Z,1628860793.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:54.153Z,1628860794.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:54.549Z,1628860794.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,0034C,184,80,80,6B,FF 2021-08-13T13:19:54.549Z,1628860794.549 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:19:54.570Z,1628860794.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:19:55.005Z,1628860795.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131955.27*51 2021-08-13T13:19:55.036Z,1628860795.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 281.346311 deg, deltaT: 4.352629 s, approachRate: -0.303265 m/s, LOS rate: -0.748118 deg/s, posRepo size: 4 2021-08-13T13:19:55.038Z,1628860795.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.139999 m, bearing: 281.346311 deg, approachRate: -0.303265 m/s, LOS rate: -0.748118 deg/s, cmd update: -2.244353 deg/s, cmd heading: 168.795201 deg, new cmd heading: 166.131292 deg. 2021-08-13T13:19:57.094Z,1628860797.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:19:57.397Z,1628860797.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:19:57.397Z,1628860797.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:19:57.397Z,1628860797.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:19:57.398Z,1628860797.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:19:57.793Z,1628860797.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 042,000,0034C,184,80,80,6B,FF 2021-08-13T13:19:57.794Z,1628860797.794 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:19:57.794Z,1628860797.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:19:57.795Z,1628860797.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:19:58.196Z,1628860798.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:19:59.050Z,1628860799.050 [Micromodem](INFO): Nmea in: $SNTTA,0.021090,,,,131959.32*4D 2021-08-13T13:19:59.635Z,1628860799.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:01.425Z,1628860801.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,184,80,80,6B,FF 2021-08-13T13:20:01.425Z,1628860801.425 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,184,80,80,6B,FF 2021-08-13T13:20:01.426Z,1628860801.426 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:20:02.303Z,1628860802.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:02.637Z,1628860802.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:02.637Z,1628860802.637 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:02.637Z,1628860802.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:02.638Z,1628860802.638 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:03.037Z,1628860803.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,184,80,80,6B,FF 2021-08-13T13:20:03.037Z,1628860803.037 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:03.038Z,1628860803.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:03.039Z,1628860803.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:03.457Z,1628860803.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:03.849Z,1628860803.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,002F7,187,80,80,B0,FF 2021-08-13T13:20:03.849Z,1628860803.849 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:04.196Z,1628860804.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:04.330Z,1628860804.330 [Micromodem](INFO): Nmea in: $SNTTA,0.023051,0.398212,,,132004.56*5F 2021-08-13T13:20:04.347Z,1628860804.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 266.799074 deg, deltaT: 9.626525 s, approachRate: -0.529786 m/s, LOS rate: -1.511162 deg/s, posRepo size: 4 2021-08-13T13:20:04.350Z,1628860804.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.040000 m, bearing: 266.799074 deg, approachRate: -0.529786 m/s, LOS rate: -1.511162 deg/s, cmd update: -4.533486 deg/s, cmd heading: 147.235183 deg, new cmd heading: 146.843305 deg. 2021-08-13T13:20:06.767Z,1628860806.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:07.146Z,1628860807.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:07.146Z,1628860807.146 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:07.147Z,1628860807.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:07.148Z,1628860807.148 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:07.561Z,1628860807.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E34,000,002F7,187,80,80,B0,FF 2021-08-13T13:20:07.562Z,1628860807.562 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:07.562Z,1628860807.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:07.563Z,1628860807.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:07.979Z,1628860807.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:08.369Z,1628860808.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA8,000,002DE,189,80,80,9F,FF 2021-08-13T13:20:08.370Z,1628860808.370 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:08.442Z,1628860808.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:08.797Z,1628860808.797 [Micromodem](INFO): Nmea in: $SNTTA,0.022864,,,,132009.09*4A 2021-08-13T13:20:08.839Z,1628860808.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 268.602681 deg, deltaT: 4.245986 s, approachRate: -0.353275 m/s, LOS rate: 0.424779 deg/s, posRepo size: 4 2021-08-13T13:20:08.846Z,1628860808.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.539999 m, bearing: 268.602681 deg, approachRate: -0.353275 m/s, LOS rate: 0.424779 deg/s, cmd update: 1.274338 deg/s, cmd heading: 127.913631 deg, new cmd heading: 126.079006 deg. 2021-08-13T13:20:11.229Z,1628860811.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:11.597Z,1628860811.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:11.597Z,1628860811.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:11.597Z,1628860811.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:11.598Z,1628860811.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:12.032Z,1628860812.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CA8,000,002DE,189,80,80,9F,FF 2021-08-13T13:20:12.033Z,1628860812.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:12.033Z,1628860812.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:12.038Z,1628860812.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:12.409Z,1628860812.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:12.817Z,1628860812.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,002D6,187,80,80,72,FF 2021-08-13T13:20:12.817Z,1628860812.817 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:12.838Z,1628860812.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:13.239Z,1628860813.239 [Micromodem](INFO): Nmea in: $SNTTA,0.007497,,,,132013.56*4C 2021-08-13T13:20:13.300Z,1628860813.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 233.934771 deg, deltaT: 4.395852 s, approachRate: -0.109194 m/s, LOS rate: -7.886505 deg/s, posRepo size: 4 2021-08-13T13:20:13.302Z,1628860813.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.059999 m, bearing: 233.934771 deg, approachRate: -0.109194 m/s, LOS rate: -7.886505 deg/s, cmd update: -12.000000 deg/s, cmd heading: 133.520546 deg, new cmd heading: 134.107779 deg. 2021-08-13T13:20:14.844Z,1628860814.844 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:20:15.404Z,1628860815.404 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 69661661150000005D00000400260000000000000000151D80030C5669C08C79983D0CF986EE3850415318D895C53360630A4D4D658B3EEEFDDD8200 2021-08-13T13:20:15.404Z,1628860815.404 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T13:20:15.479Z,1628860815.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:15.637Z,1628860815.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:15.637Z,1628860815.637 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:15.638Z,1628860815.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:15.639Z,1628860815.639 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:15.646Z,1628860815.646 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T13:20:16.069Z,1628860816.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E13,000,002D6,187,80,80,72,FF 2021-08-13T13:20:16.069Z,1628860816.069 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:16.070Z,1628860816.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:16.074Z,1628860816.074 [Micromodem](INFO): Nmea in: $CADRQ,132016,1,10,0,64,1*71 2021-08-13T13:20:16.075Z,1628860816.075 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661150000005D00000400260000000000000000151D80030C5669C08C79983D0CF986EE3850415318D895C53360630A4D4D658B3EEEFDDD8200*33 2021-08-13T13:20:16.450Z,1628860816.450 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T13:20:16.450Z,1628860816.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:16.863Z,1628860816.863 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T13:20:16.863Z,1628860816.863 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74 2021-08-13T13:20:18.106Z,1628860818.106 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T13:20:18.106Z,1628860818.106 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62 2021-08-13T13:20:18.218Z,1628860818.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:18.467Z,1628860818.467 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,132017.617699,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53 2021-08-13T13:20:18.467Z,1628860818.467 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,132017.617699,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53 2021-08-13T13:20:20.110Z,1628860820.110 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T13:20:20.111Z,1628860820.111 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T123241/Courier0021.lzma.parts 2021-08-13T13:20:20.111Z,1628860820.111 [Micromodem](INFO): Packets left to send: 0 2021-08-13T13:20:20.501Z,1628860820.501 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813132020.438827,06,32767,45,0111,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,21.1,1.99,06,1.01,-01,0.45,50,14500,4000*4E 2021-08-13T13:20:20.501Z,1628860820.501 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813132020.438827,06,32767,45,0111,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,21.1,1.99,06,1.01,-01,0.45,50,14500,4000*4E 2021-08-13T13:20:21.045Z,1628860821.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:21.046Z,1628860821.046 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T13:20:21.046Z,1628860821.046 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T13:20:21.046Z,1628860821.046 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T13:20:21.046Z,1628860821.046 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T13:20:21.046Z,1628860821.046 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T13:20:21.974Z,1628860821.974 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.335204 2021-08-13T13:20:23.721Z,1628860823.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:24.117Z,1628860824.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:24.117Z,1628860824.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:24.117Z,1628860824.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:24.118Z,1628860824.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:24.497Z,1628860824.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E13,000,002D6,187,80,80,72,FF 2021-08-13T13:20:24.497Z,1628860824.497 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:24.497Z,1628860824.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:26.551Z,1628860826.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:27.729Z,1628860827.729 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:28.148Z,1628860828.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:28.538Z,1628860828.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00342,186,80,80,80,FF 2021-08-13T13:20:28.538Z,1628860828.538 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:28.590Z,1628860828.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:28.997Z,1628860828.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132029.25*52 2021-08-13T13:20:29.042Z,1628860829.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 152.025872 deg, deltaT: 15.751747 s, approachRate: 0.411383 m/s, LOS rate: -5.199988 deg/s, posRepo size: 4 2021-08-13T13:20:29.044Z,1628860829.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.540001 m, bearing: 152.025872 deg, approachRate: 0.411383 m/s, LOS rate: -5.199988 deg/s, cmd update: -12.000000 deg/s, cmd heading: 304.547601 deg, new cmd heading: 299.030697 deg. 2021-08-13T13:20:31.406Z,1628860831.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:31.773Z,1628860831.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:31.773Z,1628860831.773 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:31.773Z,1628860831.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:31.774Z,1628860831.774 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:32.177Z,1628860832.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9C,000,00342,186,80,80,80,FF 2021-08-13T13:20:32.177Z,1628860832.177 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:32.177Z,1628860832.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:32.179Z,1628860832.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:32.584Z,1628860832.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:33.009Z,1628860833.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,0036B,184,80,80,58,FF 2021-08-13T13:20:33.010Z,1628860833.010 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:33.065Z,1628860833.065 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:33.425Z,1628860833.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132033.70*59 2021-08-13T13:20:33.456Z,1628860833.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 143.047807 deg, deltaT: 4.475254 s, approachRate: 0.549689 m/s, LOS rate: -2.006158 deg/s, posRepo size: 4 2021-08-13T13:20:33.458Z,1628860833.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.000000 m, bearing: 143.047807 deg, approachRate: 0.549689 m/s, LOS rate: -2.006158 deg/s, cmd update: -6.018473 deg/s, cmd heading: 250.793887 deg, new cmd heading: 246.070459 deg. 2021-08-13T13:20:35.826Z,1628860835.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:36.221Z,1628860836.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:36.221Z,1628860836.221 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:36.221Z,1628860836.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:36.222Z,1628860836.222 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:36.617Z,1628860836.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF8,000,0036B,184,80,80,58,FF 2021-08-13T13:20:36.617Z,1628860836.617 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:36.617Z,1628860836.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:36.619Z,1628860836.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:37.051Z,1628860837.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:37.429Z,1628860837.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00399,188,80,80,5B,FF 2021-08-13T13:20:37.429Z,1628860837.429 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:37.449Z,1628860837.449 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:37.866Z,1628860837.866 [Micromodem](INFO): Nmea in: $SNTTA,0.035359,,,,132038.14*47 2021-08-13T13:20:37.907Z,1628860837.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 187.743814 deg, deltaT: 4.384049 s, approachRate: 0.629555 m/s, LOS rate: 10.195143 deg/s, posRepo size: 4 2021-08-13T13:20:37.909Z,1628860837.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.759998 m, bearing: 187.743814 deg, approachRate: 0.629555 m/s, LOS rate: 10.195143 deg/s, cmd update: 12.000000 deg/s, cmd heading: 224.408727 deg, new cmd heading: 221.633591 deg. 2021-08-13T13:20:40.349Z,1628860840.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:40.661Z,1628860840.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:40.661Z,1628860840.661 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:40.661Z,1628860840.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:40.662Z,1628860840.662 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:41.077Z,1628860841.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DE2,000,00399,188,80,80,5B,FF 2021-08-13T13:20:41.077Z,1628860841.077 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:41.077Z,1628860841.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:41.079Z,1628860841.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:41.479Z,1628860841.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:41.878Z,1628860841.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,003BB,186,80,80,9D,FF 2021-08-13T13:20:41.879Z,1628860841.879 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:41.970Z,1628860841.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:42.293Z,1628860842.293 [Micromodem](INFO): Nmea in: $SNTTA,0.419966,0.420085,,,132042.60*50 2021-08-13T13:20:42.366Z,1628860842.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 202.457913 deg, deltaT: 4.521836 s, approachRate: 0.451144 m/s, LOS rate: 3.254010 deg/s, posRepo size: 4 2021-08-13T13:20:42.366Z,1628860842.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.80 m. Rolling out. 2021-08-13T13:20:42.366Z,1628860842.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:20:42.726Z,1628860842.726 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:20:44.714Z,1628860844.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:45.114Z,1628860845.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:45.114Z,1628860845.114 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:45.114Z,1628860845.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:45.115Z,1628860845.115 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:45.505Z,1628860845.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E44,000,003BB,186,80,80,9D,FF 2021-08-13T13:20:45.505Z,1628860845.505 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:45.506Z,1628860845.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:45.507Z,1628860845.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:45.934Z,1628860845.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:46.339Z,1628860846.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,003D2,187,80,80,30,FF 2021-08-13T13:20:46.339Z,1628860846.339 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:46.607Z,1628860846.607 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:46.989Z,1628860846.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132047.03*5E 2021-08-13T13:20:47.015Z,1628860847.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 212.311472 deg, deltaT: 4.636294 s, approachRate: 0.297652 m/s, LOS rate: 2.125309 deg/s, posRepo size: 4 2021-08-13T13:20:49.323Z,1628860849.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:49.665Z,1628860849.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:49.666Z,1628860849.666 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:49.666Z,1628860849.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:49.667Z,1628860849.667 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:50.125Z,1628860850.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED5,000,003D2,187,80,80,30,FF 2021-08-13T13:20:50.125Z,1628860850.125 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:50.125Z,1628860850.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:50.127Z,1628860850.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:50.477Z,1628860850.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:50.890Z,1628860850.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,003E4,187,80,80,93,FF 2021-08-13T13:20:50.890Z,1628860850.890 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:50.972Z,1628860850.972 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:51.449Z,1628860851.449 [Micromodem](INFO): Nmea in: $SNTTA,0.033407,,,,132051.65*44 2021-08-13T13:20:51.475Z,1628860851.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 238.758251 deg, deltaT: 4.365432 s, approachRate: 0.247399 m/s, LOS rate: 6.058227 deg/s, posRepo size: 4 2021-08-13T13:20:53.333Z,1628860853.333 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T13:20:53.749Z,1628860853.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:54.125Z,1628860854.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:54.125Z,1628860854.125 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:54.125Z,1628860854.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:54.126Z,1628860854.126 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:54.514Z,1628860854.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF7,000,003E4,187,80,80,93,FF 2021-08-13T13:20:54.514Z,1628860854.514 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:54.514Z,1628860854.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:54.515Z,1628860854.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:54.955Z,1628860854.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:55.323Z,1628860855.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,003E7,189,80,80,68,FF 2021-08-13T13:20:55.324Z,1628860855.324 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:55.378Z,1628860855.378 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:20:55.777Z,1628860855.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132056.04*59 2021-08-13T13:20:55.799Z,1628860855.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 187.133086 deg, deltaT: 4.405280 s, approachRate: 0.040860 m/s, LOS rate: -11.718930 deg/s, posRepo size: 4 2021-08-13T13:20:58.248Z,1628860858.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:20:58.555Z,1628860858.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:20:58.555Z,1628860858.555 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:20:58.555Z,1628860858.555 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:20:58.556Z,1628860858.556 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:20:58.985Z,1628860858.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2CB,000,003E7,189,80,80,68,FF 2021-08-13T13:20:58.985Z,1628860858.985 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:20:58.985Z,1628860858.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:20:58.987Z,1628860858.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:20:59.367Z,1628860859.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:20:59.777Z,1628860859.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,003E7,186,80,80,7E,FF 2021-08-13T13:20:59.778Z,1628860859.778 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:20:59.831Z,1628860859.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:00.185Z,1628860860.185 [Micromodem](INFO): Nmea in: $SNTTA,0.045688,0.424868,,,132100.51*58 2021-08-13T13:21:00.263Z,1628860860.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 207.790023 deg, deltaT: 4.453141 s, approachRate: 0.000000 m/s, LOS rate: 4.638734 deg/s, posRepo size: 4 2021-08-13T13:21:02.638Z,1628860862.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:03.022Z,1628860863.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:03.022Z,1628860863.022 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:03.022Z,1628860863.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:03.023Z,1628860863.023 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:03.411Z,1628860863.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D0,000,003E7,186,80,80,7E,FF 2021-08-13T13:21:03.411Z,1628860863.411 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:03.411Z,1628860863.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:03.413Z,1628860863.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:03.815Z,1628860863.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:04.214Z,1628860864.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,003E4,186,80,80,7C,FF 2021-08-13T13:21:04.214Z,1628860864.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:04.303Z,1628860864.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:04.650Z,1628860864.650 [Micromodem](INFO): Nmea in: $SNTTA,0.038692,,,,132104.93*49 2021-08-13T13:21:04.698Z,1628860864.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 262.267462 deg, deltaT: 4.471790 s, approachRate: -0.040252 m/s, LOS rate: 12.182468 deg/s, posRepo size: 4 2021-08-13T13:21:07.090Z,1628860867.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:07.446Z,1628860867.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:07.446Z,1628860867.446 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:07.446Z,1628860867.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:07.447Z,1628860867.447 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:07.847Z,1628860867.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E19,000,003E4,186,80,80,7C,FF 2021-08-13T13:21:07.847Z,1628860867.847 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:07.847Z,1628860867.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:07.850Z,1628860867.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:08.255Z,1628860868.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:08.664Z,1628860868.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,003E2,186,80,80,6E,FF 2021-08-13T13:21:08.665Z,1628860868.665 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:08.684Z,1628860868.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:09.090Z,1628860869.090 [Micromodem](INFO): Nmea in: $SNTTA,0.055662,,,,132109.37*4E 2021-08-13T13:21:09.116Z,1628860869.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 266.212661 deg, deltaT: 4.381200 s, approachRate: -0.027390 m/s, LOS rate: 0.900484 deg/s, posRepo size: 4 2021-08-13T13:21:11.520Z,1628860871.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:11.892Z,1628860871.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:11.893Z,1628860871.893 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:11.893Z,1628860871.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:11.894Z,1628860871.894 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:12.300Z,1628860872.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E35,000,003E2,186,80,80,6E,FF 2021-08-13T13:21:12.300Z,1628860872.300 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:12.300Z,1628860872.300 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:12.302Z,1628860872.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:12.714Z,1628860872.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:13.103Z,1628860873.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,003E1,189,80,80,96,FF 2021-08-13T13:21:13.104Z,1628860873.104 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:13.173Z,1628860873.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:13.541Z,1628860873.541 [Micromodem](INFO): Nmea in: $SNTTA,0.042937,,,,132113.83*43 2021-08-13T13:21:13.557Z,1628860873.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 277.668719 deg, deltaT: 4.489182 s, approachRate: -0.013366 m/s, LOS rate: 2.551925 deg/s, posRepo size: 4 2021-08-13T13:21:16.011Z,1628860876.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:16.335Z,1628860876.335 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:16.335Z,1628860876.335 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:16.335Z,1628860876.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:16.336Z,1628860876.336 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:16.741Z,1628860876.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DAA,000,003E1,189,80,80,96,FF 2021-08-13T13:21:16.741Z,1628860876.741 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:16.741Z,1628860876.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:16.743Z,1628860876.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:17.147Z,1628860877.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:17.547Z,1628860877.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,003DC,188,80,80,73,FF 2021-08-13T13:21:17.548Z,1628860877.548 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:17.566Z,1628860877.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:17.997Z,1628860877.997 [Micromodem](INFO): Nmea in: $SNTTA,0.096783,,,,132118.27*4E 2021-08-13T13:21:18.090Z,1628860878.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 280.748287 deg, deltaT: 4.393242 s, approachRate: -0.068287 m/s, LOS rate: 0.700979 deg/s, posRepo size: 4 2021-08-13T13:21:20.097Z,1628860880.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:20.375Z,1628860880.375 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:20.375Z,1628860880.375 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:20.375Z,1628860880.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:20.378Z,1628860880.378 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:20.779Z,1628860880.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB6,000,003DC,188,80,80,73,FF 2021-08-13T13:21:20.779Z,1628860880.779 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:20.779Z,1628860880.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:20.782Z,1628860880.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:21.193Z,1628860881.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:22.067Z,1628860882.067 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132122.30*5C 2021-08-13T13:21:22.130Z,1628860882.130 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:21:22.825Z,1628860882.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:24.422Z,1628860884.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,188,80,80,73,FF 2021-08-13T13:21:24.422Z,1628860884.422 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,188,80,80,73,FF 2021-08-13T13:21:24.422Z,1628860884.422 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:21:25.650Z,1628860885.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:26.060Z,1628860886.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:26.060Z,1628860886.060 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:26.061Z,1628860886.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:26.063Z,1628860886.063 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:26.438Z,1628860886.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,188,80,80,73,FF 2021-08-13T13:21:26.438Z,1628860886.438 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:26.438Z,1628860886.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:26.440Z,1628860886.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:26.852Z,1628860886.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:27.243Z,1628860887.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD9,000,003DB,189,80,80,5F,FF 2021-08-13T13:21:27.243Z,1628860887.243 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:27.305Z,1628860887.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:27.666Z,1628860887.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132127.97*54 2021-08-13T13:21:27.709Z,1628860887.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 311.457364 deg, deltaT: 9.738702 s, approachRate: -0.006161 m/s, LOS rate: 3.153303 deg/s, posRepo size: 4 2021-08-13T13:21:30.169Z,1628860890.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:30.477Z,1628860890.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:30.477Z,1628860890.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:30.477Z,1628860890.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:30.478Z,1628860890.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:30.880Z,1628860890.880 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BD9,000,003DB,189,80,80,5F,FF 2021-08-13T13:21:30.880Z,1628860890.880 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:30.881Z,1628860890.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:30.883Z,1628860890.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:31.286Z,1628860891.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:31.687Z,1628860891.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003CF,189,80,80,9C,FF 2021-08-13T13:21:31.687Z,1628860891.687 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:31.707Z,1628860891.707 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:32.142Z,1628860892.142 [Micromodem](INFO): Nmea in: $SNTTA,0.042479,,,,132132.41*49 2021-08-13T13:21:32.207Z,1628860892.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 325.223173 deg, deltaT: 4.401782 s, approachRate: -0.163570 m/s, LOS rate: 3.127326 deg/s, posRepo size: 4 2021-08-13T13:21:34.552Z,1628860894.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:34.919Z,1628860894.919 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:34.919Z,1628860894.919 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:34.919Z,1628860894.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:34.920Z,1628860894.920 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:35.333Z,1628860895.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,003CF,189,80,80,9C,FF 2021-08-13T13:21:35.333Z,1628860895.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:35.333Z,1628860895.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:35.335Z,1628860895.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:35.731Z,1628860895.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:36.149Z,1628860896.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003CA,189,80,80,AA,FF 2021-08-13T13:21:36.150Z,1628860896.150 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:36.153Z,1628860896.153 [Micromodem](INFO): Nmea in: $SNTTA,0.289445,0.036520,,,132136.86*50 2021-08-13T13:21:36.256Z,1628860896.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:36.579Z,1628860896.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 327.657971 deg, deltaT: 4.549036 s, approachRate: -0.065948 m/s, LOS rate: 0.535234 deg/s, posRepo size: 4 2021-08-13T13:21:39.015Z,1628860899.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:39.372Z,1628860899.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:39.372Z,1628860899.372 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:39.372Z,1628860899.372 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:39.373Z,1628860899.373 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:39.765Z,1628860899.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,003CA,189,80,80,AA,FF 2021-08-13T13:21:39.765Z,1628860899.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:39.765Z,1628860899.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:39.767Z,1628860899.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:40.184Z,1628860900.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:40.579Z,1628860900.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C5,18A,80,80,8E,FF 2021-08-13T13:21:40.579Z,1628860900.579 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:40.644Z,1628860900.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:41.017Z,1628860901.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132141.29*51 2021-08-13T13:21:41.043Z,1628860901.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 329.729103 deg, deltaT: 4.388039 s, approachRate: -0.068367 m/s, LOS rate: 0.471995 deg/s, posRepo size: 4 2021-08-13T13:21:43.421Z,1628860903.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:43.813Z,1628860903.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:43.814Z,1628860903.814 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:43.814Z,1628860903.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:43.815Z,1628860903.815 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:44.205Z,1628860904.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,003C5,18A,80,80,8E,FF 2021-08-13T13:21:44.205Z,1628860904.205 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:44.206Z,1628860904.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:44.207Z,1628860904.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:44.627Z,1628860904.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:45.032Z,1628860905.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C0,189,80,80,75,FF 2021-08-13T13:21:45.032Z,1628860905.032 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:45.061Z,1628860905.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:45.457Z,1628860905.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132145.73*5A 2021-08-13T13:21:45.479Z,1628860905.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 331.539104 deg, deltaT: 4.417496 s, approachRate: -0.067912 m/s, LOS rate: 0.409734 deg/s, posRepo size: 4 2021-08-13T13:21:47.888Z,1628860907.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:48.249Z,1628860908.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:48.249Z,1628860908.249 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:48.249Z,1628860908.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:48.250Z,1628860908.250 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:48.662Z,1628860908.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,003C0,189,80,80,75,FF 2021-08-13T13:21:48.662Z,1628860908.662 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:48.662Z,1628860908.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:48.665Z,1628860908.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:49.061Z,1628860909.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:49.475Z,1628860909.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B95,000,003BC,189,80,80,BE,FF 2021-08-13T13:21:49.475Z,1628860909.475 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:49.494Z,1628860909.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:49.902Z,1628860909.902 [Micromodem](INFO): Nmea in: $SNTTA,0.012969,,,,132150.19*49 2021-08-13T13:21:49.959Z,1628860909.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 324.812979 deg, deltaT: 4.433029 s, approachRate: -0.054139 m/s, LOS rate: -1.517275 deg/s, posRepo size: 4 2021-08-13T13:21:52.349Z,1628860912.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:52.702Z,1628860912.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:52.703Z,1628860912.703 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:52.703Z,1628860912.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:52.711Z,1628860912.711 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:53.093Z,1628860913.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P B95,000,003BC,189,80,80,BE,FF 2021-08-13T13:21:53.094Z,1628860913.094 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:53.094Z,1628860913.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:53.095Z,1628860913.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:53.515Z,1628860913.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:53.910Z,1628860913.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEC,000,003B9,18A,80,80,B8,FF 2021-08-13T13:21:53.910Z,1628860913.910 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:53.936Z,1628860913.936 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:54.354Z,1628860914.354 [Micromodem](INFO): Nmea in: $SNTTA,,0.407349,,,132154.63*48 2021-08-13T13:21:54.437Z,1628860914.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 321.976757 deg, deltaT: 4.441411 s, approachRate: -0.040527 m/s, LOS rate: -0.638586 deg/s, posRepo size: 4 2021-08-13T13:21:56.783Z,1628860916.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:21:57.133Z,1628860917.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:21:57.133Z,1628860917.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:21:57.133Z,1628860917.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:21:57.134Z,1628860917.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:21:57.559Z,1628860917.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BEC,000,003B9,18A,80,80,B8,FF 2021-08-13T13:21:57.559Z,1628860917.559 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:21:57.559Z,1628860917.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:21:57.562Z,1628860917.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:21:57.993Z,1628860917.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:21:58.355Z,1628860918.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C72,000,003B7,188,80,80,AF,FF 2021-08-13T13:21:58.355Z,1628860918.355 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:21:58.458Z,1628860918.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:21:58.789Z,1628860918.789 [Micromodem](INFO): Nmea in: $SNTTA,,0.136593,,,132159.08*4E 2021-08-13T13:21:58.833Z,1628860918.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 316.844662 deg, deltaT: 4.522553 s, approachRate: -0.026534 m/s, LOS rate: -1.134778 deg/s, posRepo size: 4 2021-08-13T13:22:01.227Z,1628860921.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:01.585Z,1628860921.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:01.585Z,1628860921.585 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:01.585Z,1628860921.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:01.586Z,1628860921.586 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:02.008Z,1628860922.008 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C72,000,003B7,188,80,80,AF,FF 2021-08-13T13:22:02.009Z,1628860922.009 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:02.009Z,1628860922.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:02.015Z,1628860922.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:02.401Z,1628860922.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:02.797Z,1628860922.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,003B3,189,80,80,66,FF 2021-08-13T13:22:02.797Z,1628860922.797 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:02.818Z,1628860922.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:03.225Z,1628860923.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132203.54*5E 2021-08-13T13:22:03.285Z,1628860923.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 311.495640 deg, deltaT: 4.361024 s, approachRate: -0.055033 m/s, LOS rate: -1.226552 deg/s, posRepo size: 4 2021-08-13T13:22:05.638Z,1628860925.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:06.056Z,1628860926.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:06.057Z,1628860926.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:06.058Z,1628860926.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:06.059Z,1628860926.059 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:06.437Z,1628860926.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CFE,000,003B3,189,80,80,66,FF 2021-08-13T13:22:06.437Z,1628860926.437 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:06.438Z,1628860926.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:06.439Z,1628860926.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:06.837Z,1628860926.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:07.237Z,1628860927.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,003B0,189,80,80,C9,FF 2021-08-13T13:22:07.237Z,1628860927.237 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:07.267Z,1628860927.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:07.695Z,1628860927.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132207.96*54 2021-08-13T13:22:07.720Z,1628860927.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 312.472986 deg, deltaT: 4.447099 s, approachRate: -0.040475 m/s, LOS rate: 0.219771 deg/s, posRepo size: 4 2021-08-13T13:22:10.170Z,1628860930.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:10.469Z,1628860930.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:10.469Z,1628860930.469 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:10.470Z,1628860930.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:10.471Z,1628860930.471 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:10.878Z,1628860930.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D0B,000,003B0,189,80,80,C9,FF 2021-08-13T13:22:10.878Z,1628860930.878 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:10.878Z,1628860930.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:10.882Z,1628860930.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:11.280Z,1628860931.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:11.681Z,1628860931.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,003B1,189,80,80,77,FF 2021-08-13T13:22:11.681Z,1628860931.681 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:11.701Z,1628860931.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:12.125Z,1628860932.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132212.40*5B 2021-08-13T13:22:12.217Z,1628860932.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 308.362878 deg, deltaT: 4.434302 s, approachRate: 0.013530 m/s, LOS rate: -0.926889 deg/s, posRepo size: 4 2021-08-13T13:22:14.142Z,1628860934.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:22:14.554Z,1628860934.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:14.917Z,1628860934.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:14.918Z,1628860934.918 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:14.918Z,1628860934.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:14.919Z,1628860934.919 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:15.322Z,1628860935.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D77,000,003B1,189,80,80,77,FF 2021-08-13T13:22:15.322Z,1628860935.322 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:15.322Z,1628860935.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:15.324Z,1628860935.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:15.745Z,1628860935.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:16.125Z,1628860936.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,003B0,189,80,80,82,FF 2021-08-13T13:22:16.126Z,1628860936.126 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:16.199Z,1628860936.199 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:16.569Z,1628860936.569 [Micromodem](INFO): Nmea in: $SNTTA,0.254305,,,,132216.85*4D 2021-08-13T13:22:16.603Z,1628860936.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 309.588925 deg, deltaT: 4.498234 s, approachRate: -0.013338 m/s, LOS rate: 0.272562 deg/s, posRepo size: 4 2021-08-13T13:22:19.015Z,1628860939.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:19.369Z,1628860939.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:19.369Z,1628860939.369 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:19.369Z,1628860939.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:19.370Z,1628860939.370 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:19.777Z,1628860939.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D74,000,003B0,189,80,80,82,FF 2021-08-13T13:22:19.777Z,1628860939.777 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:19.778Z,1628860939.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:19.779Z,1628860939.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:20.173Z,1628860940.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:20.573Z,1628860940.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,003AB,189,80,80,5F,FF 2021-08-13T13:22:20.574Z,1628860940.574 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:20.619Z,1628860940.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:21.033Z,1628860941.033 [Micromodem](INFO): Nmea in: $SNTTA,0.032702,,,,132221.30*46 2021-08-13T13:22:21.082Z,1628860941.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 307.569565 deg, deltaT: 4.419923 s, approachRate: -0.067875 m/s, LOS rate: -0.456877 deg/s, posRepo size: 4 2021-08-13T13:22:23.430Z,1628860943.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:23.845Z,1628860943.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:23.845Z,1628860943.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:23.845Z,1628860943.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:23.846Z,1628860943.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:24.213Z,1628860944.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB4,000,003AB,189,80,80,5F,FF 2021-08-13T13:22:24.213Z,1628860944.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:24.213Z,1628860944.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:24.215Z,1628860944.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:24.632Z,1628860944.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:25.045Z,1628860945.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,003A9,189,80,80,70,FF 2021-08-13T13:22:25.045Z,1628860945.045 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:25.117Z,1628860945.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:25.473Z,1628860945.473 [Micromodem](INFO): Nmea in: $SNTTA,0.028850,,,,132225.74*41 2021-08-13T13:22:25.507Z,1628860945.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 306.940177 deg, deltaT: 4.497519 s, approachRate: -0.026682 m/s, LOS rate: -0.139941 deg/s, posRepo size: 4 2021-08-13T13:22:27.908Z,1628860947.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:28.273Z,1628860948.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:28.273Z,1628860948.273 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:28.273Z,1628860948.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:28.274Z,1628860948.274 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:28.669Z,1628860948.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DCE,000,003A9,189,80,80,70,FF 2021-08-13T13:22:28.669Z,1628860948.669 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:28.669Z,1628860948.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:28.671Z,1628860948.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:29.083Z,1628860949.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:29.477Z,1628860949.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,003A9,187,80,80,82,FF 2021-08-13T13:22:29.478Z,1628860949.478 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:29.528Z,1628860949.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:29.925Z,1628860949.925 [Micromodem](INFO): Nmea in: $SNTTA,0.028115,,,,132230.19*46 2021-08-13T13:22:30.001Z,1628860950.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 306.647135 deg, deltaT: 4.411931 s, approachRate: 0.000000 m/s, LOS rate: -0.066420 deg/s, posRepo size: 4 2021-08-13T13:22:32.392Z,1628860952.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:32.705Z,1628860952.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:32.705Z,1628860952.705 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:32.705Z,1628860952.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:32.706Z,1628860952.706 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:33.113Z,1628860953.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF2,000,003A9,187,80,80,82,FF 2021-08-13T13:22:33.113Z,1628860953.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:33.113Z,1628860953.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:33.115Z,1628860953.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:33.531Z,1628860953.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:33.964Z,1628860953.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,003A9,187,80,80,8A,FF 2021-08-13T13:22:33.964Z,1628860953.964 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:34.079Z,1628860954.079 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:34.369Z,1628860954.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132234.64*59 2021-08-13T13:22:34.437Z,1628860954.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 305.406499 deg, deltaT: 4.555053 s, approachRate: 0.000000 m/s, LOS rate: -0.272365 deg/s, posRepo size: 4 2021-08-13T13:22:36.786Z,1628860956.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:37.153Z,1628860957.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:37.153Z,1628860957.153 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:37.153Z,1628860957.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:37.154Z,1628860957.154 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:37.561Z,1628860957.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E21,000,003A9,187,80,80,8A,FF 2021-08-13T13:22:37.561Z,1628860957.561 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:37.561Z,1628860957.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:37.563Z,1628860957.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:37.994Z,1628860957.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:38.374Z,1628860958.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,003AA,186,80,80,45,FF 2021-08-13T13:22:38.375Z,1628860958.375 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:38.382Z,1628860958.382 [Micromodem](INFO): Nmea in: $SNTTA,0.028396,0.175565,,,132239.09*5C 2021-08-13T13:22:38.466Z,1628860958.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:38.831Z,1628860958.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 303.943063 deg, deltaT: 4.382022 s, approachRate: 0.013692 m/s, LOS rate: -0.333964 deg/s, posRepo size: 4 2021-08-13T13:22:41.244Z,1628860961.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:41.609Z,1628860961.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:41.609Z,1628860961.609 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:41.609Z,1628860961.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:41.610Z,1628860961.610 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:42.050Z,1628860962.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E51,000,003AA,186,80,80,45,FF 2021-08-13T13:22:42.051Z,1628860962.051 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:42.051Z,1628860962.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:42.076Z,1628860962.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:42.467Z,1628860962.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:42.861Z,1628860962.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,003AB,186,80,80,67,FF 2021-08-13T13:22:42.861Z,1628860962.861 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:42.921Z,1628860962.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:43.281Z,1628860963.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132243.60*5D 2021-08-13T13:22:43.318Z,1628860963.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 301.217162 deg, deltaT: 4.455181 s, approachRate: 0.013468 m/s, LOS rate: -0.611850 deg/s, posRepo size: 4 2021-08-13T13:22:45.714Z,1628860965.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:46.113Z,1628860966.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:46.113Z,1628860966.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:46.113Z,1628860966.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:46.114Z,1628860966.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:46.501Z,1628860966.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E91,000,003AB,186,80,80,67,FF 2021-08-13T13:22:46.501Z,1628860966.501 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:46.501Z,1628860966.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:46.503Z,1628860966.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:46.917Z,1628860966.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:47.723Z,1628860967.723 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132248.03*53 2021-08-13T13:22:48.540Z,1628860968.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:50.138Z,1628860970.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 B,186,80,80,67,FF 2021-08-13T13:22:50.138Z,1628860970.138 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 B,186,80,80,67,FF 2021-08-13T13:22:50.138Z,1628860970.138 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:22:51.401Z,1628860971.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:51.754Z,1628860971.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:51.754Z,1628860971.754 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:51.754Z,1628860971.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:51.755Z,1628860971.755 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:52.157Z,1628860972.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 B,186,80,80,67,FF 2021-08-13T13:22:52.157Z,1628860972.157 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:52.157Z,1628860972.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:52.159Z,1628860972.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:52.564Z,1628860972.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:52.989Z,1628860972.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,003AE,186,80,80,7E,FF 2021-08-13T13:22:52.990Z,1628860972.990 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:53.039Z,1628860973.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:53.405Z,1628860973.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132253.68*54 2021-08-13T13:22:53.427Z,1628860973.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 297.740377 deg, deltaT: 10.124346 s, approachRate: 0.017779 m/s, LOS rate: -0.343408 deg/s, posRepo size: 4 2021-08-13T13:22:55.817Z,1628860975.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:22:56.197Z,1628860976.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:22:56.198Z,1628860976.198 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:22:56.198Z,1628860976.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:22:56.199Z,1628860976.199 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:22:56.601Z,1628860976.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE6,000,003AE,186,80,80,7E,FF 2021-08-13T13:22:56.601Z,1628860976.601 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:22:56.602Z,1628860976.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:22:56.603Z,1628860976.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:22:57.036Z,1628860977.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:22:57.409Z,1628860977.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,003B2,186,80,80,6E,FF 2021-08-13T13:22:57.409Z,1628860977.409 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:22:57.430Z,1628860977.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:22:57.845Z,1628860977.845 [Micromodem](INFO): Nmea in: $SNTTA,0.047056,,,,132258.13*4D 2021-08-13T13:22:57.895Z,1628860977.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 293.433724 deg, deltaT: 4.384754 s, approachRate: 0.054735 m/s, LOS rate: -0.982188 deg/s, posRepo size: 4 2021-08-13T13:23:00.322Z,1628860980.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:00.633Z,1628860980.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:00.633Z,1628860980.633 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:00.633Z,1628860980.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:00.634Z,1628860980.634 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:01.046Z,1628860981.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F40,000,003B2,186,80,80,6E,FF 2021-08-13T13:23:01.046Z,1628860981.046 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:01.046Z,1628860981.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:01.049Z,1628860981.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:01.449Z,1628860981.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:01.847Z,1628860981.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,003BF,186,80,80,97,FF 2021-08-13T13:23:01.848Z,1628860981.848 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:01.881Z,1628860981.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:02.277Z,1628860982.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132302.58*52 2021-08-13T13:23:02.364Z,1628860982.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 291.159490 deg, deltaT: 4.450950 s, approachRate: 0.175243 m/s, LOS rate: -0.510955 deg/s, posRepo size: 4 2021-08-13T13:23:04.691Z,1628860984.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:05.077Z,1628860985.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:05.077Z,1628860985.077 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:05.077Z,1628860985.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:05.078Z,1628860985.078 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:05.486Z,1628860985.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6C,000,003BF,186,80,80,97,FF 2021-08-13T13:23:05.486Z,1628860985.486 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:05.486Z,1628860985.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:05.488Z,1628860985.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:05.887Z,1628860985.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:06.297Z,1628860986.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,003B6,187,80,80,A6,FF 2021-08-13T13:23:06.297Z,1628860986.297 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:06.417Z,1628860986.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:06.734Z,1628860986.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132307.01*5B 2021-08-13T13:23:06.781Z,1628860986.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 290.957234 deg, deltaT: 4.536473 s, approachRate: -0.119035 m/s, LOS rate: -0.044584 deg/s, posRepo size: 4 2021-08-13T13:23:09.159Z,1628860989.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:09.521Z,1628860989.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:09.521Z,1628860989.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:09.521Z,1628860989.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:09.522Z,1628860989.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:09.941Z,1628860989.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F67,000,003B6,187,80,80,A6,FF 2021-08-13T13:23:09.941Z,1628860989.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:09.942Z,1628860989.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:09.947Z,1628860989.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:10.333Z,1628860990.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:10.733Z,1628860990.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,003C3,184,80,80,88,FF 2021-08-13T13:23:10.734Z,1628860990.734 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:10.757Z,1628860990.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:11.169Z,1628860991.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132311.47*5E 2021-08-13T13:23:11.209Z,1628860991.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 287.818380 deg, deltaT: 4.340210 s, approachRate: 0.179715 m/s, LOS rate: -0.723203 deg/s, posRepo size: 4 2021-08-13T13:23:13.589Z,1628860993.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:13.997Z,1628860993.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:13.998Z,1628860993.998 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:13.998Z,1628860993.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:13.998Z,1628860993.998 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:14.374Z,1628860994.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAF,000,003C3,184,80,80,88,FF 2021-08-13T13:23:14.374Z,1628860994.374 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:14.374Z,1628860994.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:14.375Z,1628860994.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:14.781Z,1628860994.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:15.178Z,1628860995.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,003BE,186,80,80,84,FF 2021-08-13T13:23:15.178Z,1628860995.178 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:15.229Z,1628860995.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:15.614Z,1628860995.614 [Micromodem](INFO): Nmea in: $SNTTA,0.046813,,,,132315.90*46 2021-08-13T13:23:15.642Z,1628860995.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 289.033361 deg, deltaT: 4.471152 s, approachRate: -0.067097 m/s, LOS rate: 0.271738 deg/s, posRepo size: 4 2021-08-13T13:23:18.123Z,1628860998.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:18.409Z,1628860998.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:18.409Z,1628860998.409 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:18.409Z,1628860998.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:18.410Z,1628860998.410 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:18.833Z,1628860998.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA1,000,003BE,186,80,80,84,FF 2021-08-13T13:23:18.835Z,1628860998.835 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:18.838Z,1628860998.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:18.839Z,1628860998.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:19.228Z,1628860999.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:19.633Z,1628860999.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,003C3,183,80,80,B5,FF 2021-08-13T13:23:19.634Z,1628860999.634 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:19.662Z,1628860999.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:20.109Z,1628861000.109 [Micromodem](INFO): Nmea in: $SNTTA,0.048515,,,,132320.36*49 2021-08-13T13:23:20.177Z,1628861000.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 285.236049 deg, deltaT: 4.433249 s, approachRate: 0.067670 m/s, LOS rate: -0.856553 deg/s, posRepo size: 4 2021-08-13T13:23:22.177Z,1628861002.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:22.457Z,1628861002.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:22.457Z,1628861002.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:22.457Z,1628861002.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:22.458Z,1628861002.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:22.873Z,1628861002.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE5,000,003C3,183,80,80,B5,FF 2021-08-13T13:23:22.873Z,1628861002.873 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:22.873Z,1628861002.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:22.877Z,1628861002.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:23.274Z,1628861003.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:23.669Z,1628861003.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,003C8,183,80,80,94,FF 2021-08-13T13:23:23.670Z,1628861003.670 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:23.741Z,1628861003.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:24.129Z,1628861004.129 [Micromodem](INFO): Nmea in: $SNTTA,0.049950,,,,132324.40*40 2021-08-13T13:23:24.199Z,1628861004.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 282.895890 deg, deltaT: 4.079346 s, approachRate: 0.073541 m/s, LOS rate: -0.573660 deg/s, posRepo size: 4 2021-08-13T13:23:26.523Z,1628861006.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:26.905Z,1628861006.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:26.905Z,1628861006.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:26.905Z,1628861006.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:26.906Z,1628861006.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:27.309Z,1628861007.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 00C,000,003C8,183,80,80,94,FF 2021-08-13T13:23:27.310Z,1628861007.310 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:27.310Z,1628861007.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:27.311Z,1628861007.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:27.713Z,1628861007.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:28.115Z,1628861008.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,003CE,184,80,80,8B,FF 2021-08-13T13:23:28.116Z,1628861008.116 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:28.123Z,1628861008.123 [Micromodem](INFO): Nmea in: $SNTTA,0.030068,0.301425,,,132328.84*57 2021-08-13T13:23:28.238Z,1628861008.238 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:28.556Z,1628861008.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 282.594323 deg, deltaT: 4.496525 s, approachRate: 0.080061 m/s, LOS rate: -0.067067 deg/s, posRepo size: 4 2021-08-13T13:23:31.011Z,1628861011.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:31.353Z,1628861011.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:31.354Z,1628861011.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:31.354Z,1628861011.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:31.355Z,1628861011.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:31.753Z,1628861011.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 016,000,003CE,184,80,80,8B,FF 2021-08-13T13:23:31.753Z,1628861011.753 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:31.753Z,1628861011.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:31.755Z,1628861011.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:32.161Z,1628861012.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:32.566Z,1628861012.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,003D1,185,80,80,6E,FF 2021-08-13T13:23:32.566Z,1628861012.566 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:32.590Z,1628861012.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:33.009Z,1628861013.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132333.28*57 2021-08-13T13:23:33.060Z,1628861013.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 279.136499 deg, deltaT: 4.352040 s, approachRate: 0.041361 m/s, LOS rate: -0.794529 deg/s, posRepo size: 4 2021-08-13T13:23:35.407Z,1628861015.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:35.793Z,1628861015.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:35.793Z,1628861015.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:35.793Z,1628861015.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:35.794Z,1628861015.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:36.201Z,1628861016.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05B,000,003D1,185,80,80,6E,FF 2021-08-13T13:23:36.201Z,1628861016.201 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:36.201Z,1628861016.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:36.203Z,1628861016.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:36.613Z,1628861016.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:37.025Z,1628861017.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,003DA,187,80,80,84,FF 2021-08-13T13:23:37.025Z,1628861017.025 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:37.099Z,1628861017.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:37.453Z,1628861017.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132337.73*5D 2021-08-13T13:23:37.469Z,1628861017.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 277.254754 deg, deltaT: 4.518228 s, approachRate: 0.119515 m/s, LOS rate: -0.416478 deg/s, posRepo size: 4 2021-08-13T13:23:39.867Z,1628861019.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:40.245Z,1628861020.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:40.245Z,1628861020.245 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:40.245Z,1628861020.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:40.246Z,1628861020.246 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:40.645Z,1628861020.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 087,000,003DA,187,80,80,84,FF 2021-08-13T13:23:40.646Z,1628861020.646 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:40.646Z,1628861020.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:40.647Z,1628861020.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:41.049Z,1628861021.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:41.453Z,1628861021.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,003DE,185,80,80,99,FF 2021-08-13T13:23:41.454Z,1628861021.454 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:41.519Z,1628861021.519 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:41.915Z,1628861021.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 274.913529 deg, deltaT: 4.410666 s, approachRate: 0.054414 m/s, LOS rate: -0.530810 deg/s, posRepo size: 4 2021-08-13T13:23:44.339Z,1628861024.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:44.685Z,1628861024.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:44.685Z,1628861024.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:44.685Z,1628861024.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:44.686Z,1628861024.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:45.099Z,1628861025.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B7,000,003DE,185,80,80,99,FF 2021-08-13T13:23:45.099Z,1628861025.099 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:45.100Z,1628861025.100 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:45.102Z,1628861025.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:45.503Z,1628861025.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:45.909Z,1628861025.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,003E6,186,80,80,59,FF 2021-08-13T13:23:45.909Z,1628861025.909 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:45.985Z,1628861025.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:46.318Z,1628861026.318 [Micromodem](INFO): Nmea in: $SNTTA,0.366889,0.366895,,,132346.63*57 2021-08-13T13:23:46.388Z,1628861026.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 272.616182 deg, deltaT: 4.466530 s, approachRate: 0.107465 m/s, LOS rate: -0.514347 deg/s, posRepo size: 4 2021-08-13T13:23:48.747Z,1628861028.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:49.145Z,1628861029.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:49.145Z,1628861029.145 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:49.145Z,1628861029.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:49.146Z,1628861029.146 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:49.533Z,1628861029.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0E2,000,003E6,186,80,80,59,FF 2021-08-13T13:23:49.533Z,1628861029.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:49.533Z,1628861029.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:49.535Z,1628861029.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:49.983Z,1628861029.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:50.345Z,1628861030.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,003EB,186,80,80,86,FF 2021-08-13T13:23:50.346Z,1628861030.346 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:50.349Z,1628861030.349 [Micromodem](INFO): Nmea in: $SNTTA,0.150307,0.189055,,,132351.06*5F 2021-08-13T13:23:50.411Z,1628861030.411 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:50.780Z,1628861030.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 269.412960 deg, deltaT: 4.425536 s, approachRate: 0.067788 m/s, LOS rate: -0.723804 deg/s, posRepo size: 4 2021-08-13T13:23:53.213Z,1628861033.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:53.573Z,1628861033.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:53.573Z,1628861033.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:53.573Z,1628861033.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:53.574Z,1628861033.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:54.017Z,1628861034.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 123,000,003EB,186,80,80,86,FF 2021-08-13T13:23:54.017Z,1628861034.017 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:54.018Z,1628861034.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:54.023Z,1628861034.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:54.384Z,1628861034.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:54.789Z,1628861034.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,003F3,186,80,80,AD,FF 2021-08-13T13:23:54.790Z,1628861034.790 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:54.839Z,1628861034.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:55.203Z,1628861035.203 [Micromodem](INFO): Nmea in: $SNTTA,0.044212,,,,132355.55*42 2021-08-13T13:23:55.255Z,1628861035.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 267.573043 deg, deltaT: 4.432956 s, approachRate: 0.108281 m/s, LOS rate: -0.415054 deg/s, posRepo size: 4 2021-08-13T13:23:57.645Z,1628861037.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:23:58.065Z,1628861038.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:23:58.065Z,1628861038.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:23:58.066Z,1628861038.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:23:58.067Z,1628861038.067 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:23:58.429Z,1628861038.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 143,000,003F3,186,80,80,AD,FF 2021-08-13T13:23:58.429Z,1628861038.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:23:58.429Z,1628861038.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:23:58.431Z,1628861038.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:23:58.833Z,1628861038.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:23:59.223Z,1628861039.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,003FD,186,80,80,78,FF 2021-08-13T13:23:59.223Z,1628861039.223 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:23:59.252Z,1628861039.252 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:23:59.673Z,1628861039.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132359.95*5D 2021-08-13T13:23:59.714Z,1628861039.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 264.767256 deg, deltaT: 4.408779 s, approachRate: 0.136092 m/s, LOS rate: -0.636409 deg/s, posRepo size: 4 2021-08-13T13:24:02.202Z,1628861042.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:02.529Z,1628861042.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:02.529Z,1628861042.529 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:02.529Z,1628861042.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:02.530Z,1628861042.530 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:02.943Z,1628861042.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 188,000,003FD,186,80,80,78,FF 2021-08-13T13:24:02.943Z,1628861042.943 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:02.944Z,1628861042.944 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:02.951Z,1628861042.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:03.341Z,1628861043.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:03.750Z,1628861043.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,00406,186,80,80,88,FF 2021-08-13T13:24:03.751Z,1628861043.751 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:03.807Z,1628861043.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:04.173Z,1628861044.173 [Micromodem](INFO): Nmea in: $SNTTA,0.040045,,,,132404.48*49 2021-08-13T13:24:04.248Z,1628861044.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 263.363024 deg, deltaT: 4.554343 s, approachRate: 0.118568 m/s, LOS rate: -0.308328 deg/s, posRepo size: 4 2021-08-13T13:24:06.587Z,1628861046.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:06.985Z,1628861046.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:06.985Z,1628861046.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:06.986Z,1628861046.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:06.987Z,1628861046.987 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:07.373Z,1628861047.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 19D,000,00406,186,80,80,88,FF 2021-08-13T13:24:07.373Z,1628861047.373 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:07.373Z,1628861047.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:07.375Z,1628861047.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:07.781Z,1628861047.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:08.189Z,1628861048.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00415,186,80,80,7C,FF 2021-08-13T13:24:08.190Z,1628861048.190 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:08.295Z,1628861048.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:08.617Z,1628861048.617 [Micromodem](INFO): Nmea in: $SNTTA,0.041322,,,,132408.90*43 2021-08-13T13:24:08.666Z,1628861048.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 263.405644 deg, deltaT: 4.487853 s, approachRate: 0.200541 m/s, LOS rate: 0.009497 deg/s, posRepo size: 4 2021-08-13T13:24:11.101Z,1628861051.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:11.413Z,1628861051.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:11.413Z,1628861051.413 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:11.413Z,1628861051.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:11.414Z,1628861051.414 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:11.817Z,1628861051.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 19A,000,00415,186,80,80,7C,FF 2021-08-13T13:24:11.817Z,1628861051.817 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:11.817Z,1628861051.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:11.819Z,1628861051.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:12.226Z,1628861052.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:13.054Z,1628861053.054 [Micromodem](INFO): Nmea in: $SNTTA,0.056212,,,,132413.35*42 2021-08-13T13:24:13.854Z,1628861053.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:15.453Z,1628861055.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,186,80,80,7C,FF 2021-08-13T13:24:15.453Z,1628861055.453 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,186,80,80,7C,FF 2021-08-13T13:24:15.453Z,1628861055.453 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:24:16.690Z,1628861056.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:17.074Z,1628861057.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:17.074Z,1628861057.074 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:17.074Z,1628861057.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:17.075Z,1628861057.075 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:17.473Z,1628861057.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,186,80,80,7C,FF 2021-08-13T13:24:17.473Z,1628861057.473 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:17.473Z,1628861057.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:17.475Z,1628861057.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:17.886Z,1628861057.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:18.275Z,1628861058.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,0041F,185,80,80,58,FF 2021-08-13T13:24:18.275Z,1628861058.275 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:18.355Z,1628861058.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:18.730Z,1628861058.730 [Micromodem](INFO): Nmea in: $SNTTA,,0.221476,,,132419.00*48 2021-08-13T13:24:18.752Z,1628861058.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 261.553761 deg, deltaT: 10.060075 s, approachRate: 0.059642 m/s, LOS rate: -0.184082 deg/s, posRepo size: 4 2021-08-13T13:24:21.152Z,1628861061.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:21.509Z,1628861061.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:21.509Z,1628861061.509 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:21.509Z,1628861061.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:21.510Z,1628861061.510 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:21.921Z,1628861061.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1AA,000,0041F,185,80,80,58,FF 2021-08-13T13:24:21.921Z,1628861061.921 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:21.922Z,1628861061.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:21.923Z,1628861061.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:22.391Z,1628861062.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:22.782Z,1628861062.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,0042A,187,80,80,87,FF 2021-08-13T13:24:22.782Z,1628861062.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:22.835Z,1628861062.835 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:23.197Z,1628861063.197 [Micromodem](INFO): Nmea in: $SNTTA,0.030925,,,,132423.45*49 2021-08-13T13:24:23.241Z,1628861063.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 258.413596 deg, deltaT: 4.480916 s, approachRate: 0.147292 m/s, LOS rate: -0.700787 deg/s, posRepo size: 4 2021-08-13T13:24:25.641Z,1628861065.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:26.056Z,1628861066.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:26.057Z,1628861066.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:26.057Z,1628861066.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:26.059Z,1628861066.059 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:26.422Z,1628861066.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D9,000,0042A,187,80,80,87,FF 2021-08-13T13:24:26.422Z,1628861066.422 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:26.422Z,1628861066.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:26.424Z,1628861066.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:26.829Z,1628861066.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:27.230Z,1628861067.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00435,187,80,80,55,FF 2021-08-13T13:24:27.230Z,1628861067.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:27.294Z,1628861067.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:27.669Z,1628861067.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132427.95*53 2021-08-13T13:24:27.707Z,1628861067.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 256.248070 deg, deltaT: 4.458242 s, approachRate: 0.148040 m/s, LOS rate: -0.485735 deg/s, posRepo size: 4 2021-08-13T13:24:30.162Z,1628861070.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:30.461Z,1628861070.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:30.461Z,1628861070.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:30.461Z,1628861070.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:30.462Z,1628861070.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:30.870Z,1628861070.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F7,000,00435,187,80,80,55,FF 2021-08-13T13:24:30.870Z,1628861070.870 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:30.870Z,1628861070.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:30.874Z,1628861070.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:31.341Z,1628861071.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:31.673Z,1628861071.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,209,000,00448,187,80,80,8F,FF 2021-08-13T13:24:31.673Z,1628861071.673 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:31.695Z,1628861071.695 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:32.134Z,1628861072.134 [Micromodem](INFO): Nmea in: $SNTTA,0.039881,,,,132432.40*4A 2021-08-13T13:24:32.201Z,1628861072.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 254.792421 deg, deltaT: 4.400944 s, approachRate: 0.259035 m/s, LOS rate: -0.330759 deg/s, posRepo size: 4 2021-08-13T13:24:34.210Z,1628861074.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:34.505Z,1628861074.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:34.506Z,1628861074.506 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:34.506Z,1628861074.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:34.507Z,1628861074.507 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:34.914Z,1628861074.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 209,000,00448,187,80,80,8F,FF 2021-08-13T13:24:34.914Z,1628861074.914 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:34.914Z,1628861074.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:34.916Z,1628861074.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:35.321Z,1628861075.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:35.722Z,1628861075.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,00449,186,80,80,79,FF 2021-08-13T13:24:35.722Z,1628861075.722 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:35.743Z,1628861075.743 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:36.153Z,1628861076.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132436.44*5F 2021-08-13T13:24:36.210Z,1628861076.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 254.703819 deg, deltaT: 4.048094 s, approachRate: 0.014823 m/s, LOS rate: -0.021887 deg/s, posRepo size: 4 2021-08-13T13:24:38.559Z,1628861078.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:38.995Z,1628861078.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:38.996Z,1628861078.996 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:38.996Z,1628861078.996 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:38.997Z,1628861078.997 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:39.361Z,1628861079.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1FC,000,00449,186,80,80,79,FF 2021-08-13T13:24:39.361Z,1628861079.361 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:39.362Z,1628861079.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:39.363Z,1628861079.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:39.756Z,1628861079.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:40.157Z,1628861080.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00451,187,80,80,97,FF 2021-08-13T13:24:40.157Z,1628861080.157 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:40.247Z,1628861080.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:40.591Z,1628861080.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132440.89*5F 2021-08-13T13:24:40.612Z,1628861080.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 253.998261 deg, deltaT: 4.504165 s, approachRate: 0.106568 m/s, LOS rate: -0.156646 deg/s, posRepo size: 4 2021-08-13T13:24:43.051Z,1628861083.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:43.389Z,1628861083.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:43.389Z,1628861083.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:43.389Z,1628861083.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:43.390Z,1628861083.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:43.801Z,1628861083.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F9,000,00451,187,80,80,97,FF 2021-08-13T13:24:43.801Z,1628861083.801 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:43.802Z,1628861083.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:43.803Z,1628861083.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:44.209Z,1628861084.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:44.601Z,1628861084.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21C,000,0045B,187,80,80,95,FF 2021-08-13T13:24:44.601Z,1628861084.601 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:44.690Z,1628861084.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:45.049Z,1628861085.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132445.33*5B 2021-08-13T13:24:45.074Z,1628861085.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 251.420575 deg, deltaT: 4.443190 s, approachRate: 0.135038 m/s, LOS rate: -0.580143 deg/s, posRepo size: 4 2021-08-13T13:24:47.455Z,1628861087.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:47.833Z,1628861087.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:47.833Z,1628861087.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:47.833Z,1628861087.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:47.834Z,1628861087.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:48.237Z,1628861088.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 21C,000,0045B,187,80,80,95,FF 2021-08-13T13:24:48.237Z,1628861088.237 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:48.237Z,1628861088.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:48.239Z,1628861088.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:48.649Z,1628861088.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:49.045Z,1628861089.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,00466,187,80,80,7E,FF 2021-08-13T13:24:49.045Z,1628861089.045 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:49.104Z,1628861089.104 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:49.501Z,1628861089.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132449.76*56 2021-08-13T13:24:49.523Z,1628861089.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 252.234323 deg, deltaT: 4.414074 s, approachRate: 0.149522 m/s, LOS rate: 0.184353 deg/s, posRepo size: 4 2021-08-13T13:24:51.913Z,1628861091.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:52.277Z,1628861092.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:52.277Z,1628861092.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:52.277Z,1628861092.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:52.278Z,1628861092.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:52.689Z,1628861092.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1FE,000,00466,187,80,80,7E,FF 2021-08-13T13:24:52.689Z,1628861092.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:52.689Z,1628861092.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:52.691Z,1628861092.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:53.084Z,1628861093.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:53.493Z,1628861093.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,00471,189,80,80,55,FF 2021-08-13T13:24:53.493Z,1628861093.493 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:53.512Z,1628861093.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:53.943Z,1628861093.943 [Micromodem](INFO): Nmea in: $SNTTA,0.049343,,,,132454.22*4C 2021-08-13T13:24:54.079Z,1628861094.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 249.222046 deg, deltaT: 4.407922 s, approachRate: 0.149731 m/s, LOS rate: -0.683378 deg/s, posRepo size: 4 2021-08-13T13:24:56.396Z,1628861096.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:24:56.725Z,1628861096.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:24:56.725Z,1628861096.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:24:56.725Z,1628861096.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:24:56.726Z,1628861096.726 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:24:57.125Z,1628861097.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 231,000,00471,189,80,80,55,FF 2021-08-13T13:24:57.125Z,1628861097.125 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:24:57.125Z,1628861097.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:24:57.127Z,1628861097.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:24:57.541Z,1628861097.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:24:57.937Z,1628861097.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,00480,187,80,80,46,FF 2021-08-13T13:24:57.937Z,1628861097.937 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:24:58.022Z,1628861098.022 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:24:58.369Z,1628861098.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132458.65*54 2021-08-13T13:24:58.457Z,1628861098.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 252.124494 deg, deltaT: 4.510724 s, approachRate: 0.199524 m/s, LOS rate: 0.643455 deg/s, posRepo size: 4 2021-08-13T13:24:59.177Z,1628861099.177 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:25:00.793Z,1628861100.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:01.161Z,1628861101.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:01.161Z,1628861101.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:01.161Z,1628861101.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:01.162Z,1628861101.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:01.578Z,1628861101.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1FC,000,00480,187,80,80,46,FF 2021-08-13T13:25:01.578Z,1628861101.578 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:01.578Z,1628861101.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:01.580Z,1628861101.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:01.992Z,1628861101.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:02.387Z,1628861102.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25A,000,0048A,188,80,80,95,FF 2021-08-13T13:25:02.388Z,1628861102.388 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:02.458Z,1628861102.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:02.809Z,1628861102.809 [Micromodem](INFO): Nmea in: $SNTTA,0.045679,,,,132503.10*4E 2021-08-13T13:25:02.831Z,1628861102.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 248.406740 deg, deltaT: 4.435283 s, approachRate: 0.135279 m/s, LOS rate: -0.838222 deg/s, posRepo size: 4 2021-08-13T13:25:04.124Z,1628861104.124 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-08-13T13:25:04.124Z,1628861104.124 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-08-13T13:25:04.124Z,1628861104.124 [RDI_PathfinderUp](ERROR): Communications Fault 2021-08-13T13:25:04.244Z,1628861104.244 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-08-13T13:25:04.492Z,1628861104.492 [RDI_PathfinderUp](INFO): Powering down 2021-08-13T13:25:05.218Z,1628861105.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:05.313Z,1628861105.313 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-08-13T13:25:05.313Z,1628861105.313 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-08-13T13:25:05.606Z,1628861105.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:05.606Z,1628861105.606 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:05.606Z,1628861105.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:05.607Z,1628861105.607 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:06.032Z,1628861106.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 25A,000,0048A,188,80,80,95,FF 2021-08-13T13:25:06.033Z,1628861106.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:06.033Z,1628861106.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:06.043Z,1628861106.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:06.447Z,1628861106.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:06.821Z,1628861106.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,0048E,189,80,80,8A,FF 2021-08-13T13:25:06.822Z,1628861106.822 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:06.840Z,1628861106.840 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:07.250Z,1628861107.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132507.57*5E 2021-08-13T13:25:07.282Z,1628861107.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 247.175503 deg, deltaT: 4.381966 s, approachRate: 0.054770 m/s, LOS rate: -0.280978 deg/s, posRepo size: 4 2021-08-13T13:25:09.670Z,1628861109.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:10.093Z,1628861110.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:10.093Z,1628861110.093 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:10.093Z,1628861110.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:10.094Z,1628861110.094 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:10.461Z,1628861110.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 27F,000,0048E,189,80,80,8A,FF 2021-08-13T13:25:10.461Z,1628861110.461 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:10.462Z,1628861110.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:10.463Z,1628861110.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:10.874Z,1628861110.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:11.257Z,1628861111.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,004A1,189,80,80,87,FF 2021-08-13T13:25:11.257Z,1628861111.257 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:11.311Z,1628861111.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:11.701Z,1628861111.701 [Micromodem](INFO): Nmea in: $SNTTA,0.062242,,,,132511.99*45 2021-08-13T13:25:11.723Z,1628861111.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.600002 m, bearing: 246.176437 deg, deltaT: 4.479188 s, approachRate: 0.254510 m/s, LOS rate: -0.223046 deg/s, posRepo size: 4 2021-08-13T13:25:14.155Z,1628861114.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:14.494Z,1628861114.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:14.494Z,1628861114.494 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:14.494Z,1628861114.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:14.495Z,1628861114.495 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:14.894Z,1628861114.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2AD,000,004A1,189,80,80,87,FF 2021-08-13T13:25:14.894Z,1628861114.894 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:14.894Z,1628861114.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:14.897Z,1628861114.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:15.309Z,1628861115.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:15.698Z,1628861115.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,004AB,189,80,80,82,FF 2021-08-13T13:25:15.698Z,1628861115.698 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:15.751Z,1628861115.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:16.138Z,1628861116.138 [Micromodem](INFO): Nmea in: $SNTTA,0.469089,0.468964,,,132516.42*51 2021-08-13T13:25:16.205Z,1628861116.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 245.615324 deg, deltaT: 4.431537 s, approachRate: 0.135393 m/s, LOS rate: -0.126618 deg/s, posRepo size: 4 2021-08-13T13:25:18.546Z,1628861118.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:18.965Z,1628861118.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:18.965Z,1628861118.965 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:18.965Z,1628861118.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:18.966Z,1628861118.966 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:19.337Z,1628861119.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2D4,000,004AB,189,80,80,82,FF 2021-08-13T13:25:19.337Z,1628861119.337 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:19.337Z,1628861119.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:19.339Z,1628861119.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:19.773Z,1628861119.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:20.173Z,1628861120.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,004B7,189,80,80,83,FF 2021-08-13T13:25:20.173Z,1628861120.173 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:20.177Z,1628861120.177 [Micromodem](INFO): Nmea in: $SNTTA,0.288651,0.288657,,,132520.86*51 2021-08-13T13:25:20.275Z,1628861120.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:20.597Z,1628861120.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 244.922087 deg, deltaT: 4.524156 s, approachRate: 0.159146 m/s, LOS rate: -0.153230 deg/s, posRepo size: 4 2021-08-13T13:25:23.018Z,1628861123.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:23.380Z,1628861123.380 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:23.380Z,1628861123.380 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:23.381Z,1628861123.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:23.381Z,1628861123.381 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:23.781Z,1628861123.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2FE,000,004B7,189,80,80,83,FF 2021-08-13T13:25:23.781Z,1628861123.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:23.781Z,1628861123.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:23.783Z,1628861123.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:24.188Z,1628861124.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:24.593Z,1628861124.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,004BD,189,80,80,A1,FF 2021-08-13T13:25:24.593Z,1628861124.593 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:24.655Z,1628861124.655 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:25.025Z,1628861125.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132525.31*5E 2021-08-13T13:25:25.062Z,1628861125.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 241.775009 deg, deltaT: 4.379719 s, approachRate: 0.082196 m/s, LOS rate: -0.718557 deg/s, posRepo size: 4 2021-08-13T13:25:27.451Z,1628861127.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:27.825Z,1628861127.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:27.825Z,1628861127.825 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:27.825Z,1628861127.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:27.826Z,1628861127.826 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:28.225Z,1628861128.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 35A,000,004BD,189,80,80,A1,FF 2021-08-13T13:25:28.225Z,1628861128.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:28.225Z,1628861128.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:28.227Z,1628861128.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:28.637Z,1628861128.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:29.037Z,1628861129.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,004D5,189,80,80,A7,FF 2021-08-13T13:25:29.037Z,1628861129.037 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:29.095Z,1628861129.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:29.465Z,1628861129.465 [Micromodem](INFO): Nmea in: $SNTTA,0.043240,,,,132529.75*4D 2021-08-13T13:25:29.488Z,1628861129.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 241.268127 deg, deltaT: 4.439696 s, approachRate: 0.324346 m/s, LOS rate: -0.114170 deg/s, posRepo size: 4 2021-08-13T13:25:31.919Z,1628861131.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:32.270Z,1628861132.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:32.270Z,1628861132.270 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:32.270Z,1628861132.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:32.271Z,1628861132.271 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:32.669Z,1628861132.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 390,000,004D5,189,80,80,A7,FF 2021-08-13T13:25:32.669Z,1628861132.669 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:32.669Z,1628861132.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:32.671Z,1628861132.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:33.081Z,1628861133.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:33.906Z,1628861133.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132534.19*54 2021-08-13T13:25:34.759Z,1628861134.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:36.305Z,1628861136.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,A7,FF 2021-08-13T13:25:36.305Z,1628861136.305 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,189,80,80,A7,FF 2021-08-13T13:25:36.305Z,1628861136.305 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:25:37.538Z,1628861137.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:37.933Z,1628861137.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:37.933Z,1628861137.933 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:37.933Z,1628861137.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:37.934Z,1628861137.934 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:38.333Z,1628861138.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,A7,FF 2021-08-13T13:25:38.333Z,1628861138.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:38.334Z,1628861138.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:38.335Z,1628861138.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:38.757Z,1628861138.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:39.133Z,1628861139.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36B,000,004E4,188,80,80,96,FF 2021-08-13T13:25:39.133Z,1628861139.133 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:39.153Z,1628861139.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:39.573Z,1628861139.573 [Micromodem](INFO): Nmea in: $SNTTA,,0.037780,,,132539.86*4A 2021-08-13T13:25:39.607Z,1628861139.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 247.623918 deg, deltaT: 10.058103 s, approachRate: 0.089481 m/s, LOS rate: 0.631908 deg/s, posRepo size: 4 2021-08-13T13:25:42.011Z,1628861142.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:42.365Z,1628861142.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:42.365Z,1628861142.365 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:42.365Z,1628861142.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:42.366Z,1628861142.366 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:42.783Z,1628861142.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 36B,000,004E4,188,80,80,96,FF 2021-08-13T13:25:42.783Z,1628861142.783 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:42.783Z,1628861142.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:42.785Z,1628861142.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:43.176Z,1628861143.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:43.574Z,1628861143.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,004F3,18A,80,80,7B,FF 2021-08-13T13:25:43.575Z,1628861143.575 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:43.594Z,1628861143.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:44.054Z,1628861144.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132544.31*59 2021-08-13T13:25:44.144Z,1628861144.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 245.423259 deg, deltaT: 4.441414 s, approachRate: 0.202638 m/s, LOS rate: -0.495486 deg/s, posRepo size: 4 2021-08-13T13:25:46.456Z,1628861146.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:46.809Z,1628861146.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:46.809Z,1628861146.809 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:46.809Z,1628861146.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:46.810Z,1628861146.810 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:47.213Z,1628861147.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3B0,000,004F3,18A,80,80,7B,FF 2021-08-13T13:25:47.213Z,1628861147.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:47.213Z,1628861147.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:47.215Z,1628861147.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:47.635Z,1628861147.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:48.049Z,1628861148.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FD,000,00500,189,80,80,A8,FF 2021-08-13T13:25:48.050Z,1628861148.050 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:48.171Z,1628861148.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:48.462Z,1628861148.462 [Micromodem](INFO): Nmea in: $SNTTA,0.054416,,,,132548.74*48 2021-08-13T13:25:48.478Z,1628861148.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 243.842480 deg, deltaT: 4.577084 s, approachRate: 0.170414 m/s, LOS rate: -0.345368 deg/s, posRepo size: 4 2021-08-13T13:25:50.913Z,1628861150.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:51.261Z,1628861151.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:51.261Z,1628861151.261 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:51.262Z,1628861151.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:51.263Z,1628861151.263 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:51.657Z,1628861151.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3FD,000,00500,189,80,80,A8,FF 2021-08-13T13:25:51.657Z,1628861151.657 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:51.657Z,1628861151.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:51.659Z,1628861151.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:52.112Z,1628861152.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:52.465Z,1628861152.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,412,000,0050D,18A,80,80,9F,FF 2021-08-13T13:25:52.465Z,1628861152.466 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:52.557Z,1628861152.557 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:25:52.910Z,1628861152.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132553.18*54 2021-08-13T13:25:52.936Z,1628861152.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 244.011841 deg, deltaT: 4.386249 s, approachRate: 0.177829 m/s, LOS rate: 0.038612 deg/s, posRepo size: 4 2021-08-13T13:25:53.310Z,1628861153.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:25:53.310Z,1628861153.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:25:53.310Z,1628861153.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:25:53.311Z,1628861153.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:25:53.311Z,1628861153.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:25:53.311Z,1628861153.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:25:53.752Z,1628861153.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:25:53.753Z,1628861153.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:25:53.753Z,1628861153.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:25:53.753Z,1628861153.753 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:25:55.326Z,1628861155.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:25:55.724Z,1628861155.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:25:55.725Z,1628861155.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:25:55.726Z,1628861155.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:25:55.727Z,1628861155.727 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:25:56.119Z,1628861156.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 412,000,0050D,18A,80,80,9F,FF 2021-08-13T13:25:56.119Z,1628861156.119 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:25:56.119Z,1628861156.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:25:56.121Z,1628861156.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:25:56.513Z,1628861156.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:25:56.929Z,1628861156.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,467,000,0051B,189,80,80,80,FF 2021-08-13T13:25:56.929Z,1628861156.929 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:25:57.340Z,1628861157.340 [Micromodem](INFO): Nmea in: $SNTTA,0.039680,,,,132557.64*41 2021-08-13T13:25:57.356Z,1628861157.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 240.748076 deg, deltaT: 4.427310 s, approachRate: 0.189731 m/s, LOS rate: -0.737189 deg/s, posRepo size: 4 2021-08-13T13:25:59.804Z,1628861159.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:00.154Z,1628861160.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:00.154Z,1628861160.154 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:00.154Z,1628861160.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:00.155Z,1628861160.155 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:00.545Z,1628861160.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 467,000,0051B,189,80,80,80,FF 2021-08-13T13:26:00.545Z,1628861160.545 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:00.545Z,1628861160.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:00.547Z,1628861160.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:00.969Z,1628861160.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:01.354Z,1628861161.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D7,000,00528,189,80,80,96,FF 2021-08-13T13:26:01.354Z,1628861161.354 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:01.829Z,1628861161.829 [Micromodem](INFO): Nmea in: $SNTTA,0.045051,,,,132602.07*46 2021-08-13T13:26:01.870Z,1628861161.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 236.410223 deg, deltaT: 4.416409 s, approachRate: 0.176614 m/s, LOS rate: -0.982213 deg/s, posRepo size: 4 2021-08-13T13:26:04.272Z,1628861164.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:04.585Z,1628861164.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:04.585Z,1628861164.585 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:04.585Z,1628861164.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:04.586Z,1628861164.586 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:04.993Z,1628861164.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4D7,000,00528,189,80,80,96,FF 2021-08-13T13:26:04.993Z,1628861164.993 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:04.993Z,1628861164.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:04.995Z,1628861164.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:05.401Z,1628861165.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:05.797Z,1628861165.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00538,189,80,80,B5,FF 2021-08-13T13:26:05.798Z,1628861165.798 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:06.242Z,1628861166.242 [Micromodem](INFO): Nmea in: $SNTTA,0.460593,,,,132606.52*4A 2021-08-13T13:26:06.278Z,1628861166.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.660000 m, bearing: 235.547215 deg, deltaT: 4.501153 s, approachRate: 0.213278 m/s, LOS rate: -0.191730 deg/s, posRepo size: 4 2021-08-13T13:26:08.654Z,1628861168.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:09.045Z,1628861169.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:09.045Z,1628861169.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:09.045Z,1628861169.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:09.046Z,1628861169.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:09.433Z,1628861169.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00538,189,80,80,B5,FF 2021-08-13T13:26:09.433Z,1628861169.433 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:09.433Z,1628861169.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:09.435Z,1628861169.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:09.840Z,1628861169.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:10.249Z,1628861170.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00540,18A,80,80,B8,FF 2021-08-13T13:26:10.250Z,1628861170.250 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:10.681Z,1628861170.681 [Micromodem](INFO): Nmea in: $SNTTA,0.042973,,,,132610.96*43 2021-08-13T13:26:10.765Z,1628861170.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 236.159692 deg, deltaT: 4.422286 s, approachRate: 0.108541 m/s, LOS rate: 0.138498 deg/s, posRepo size: 4 2021-08-13T13:26:13.116Z,1628861173.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:13.473Z,1628861173.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:13.473Z,1628861173.473 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:13.473Z,1628861173.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:13.474Z,1628861173.474 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:13.890Z,1628861173.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00540,18A,80,80,B8,FF 2021-08-13T13:26:13.890Z,1628861173.890 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:13.890Z,1628861173.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:13.897Z,1628861173.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:14.289Z,1628861174.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:14.704Z,1628861174.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0054D,188,80,80,B0,FF 2021-08-13T13:26:14.705Z,1628861174.705 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:15.131Z,1628861175.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 237.049939 deg, deltaT: 4.452408 s, approachRate: 0.175187 m/s, LOS rate: 0.199947 deg/s, posRepo size: 4 2021-08-13T13:26:17.534Z,1628861177.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:17.933Z,1628861177.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:17.933Z,1628861177.933 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:17.933Z,1628861177.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:17.934Z,1628861177.934 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:18.333Z,1628861178.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0054D,188,80,80,B0,FF 2021-08-13T13:26:18.333Z,1628861178.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:18.334Z,1628861178.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:18.335Z,1628861178.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:18.769Z,1628861178.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:19.141Z,1628861179.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00559,189,80,80,5C,FF 2021-08-13T13:26:19.141Z,1628861179.141 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:19.577Z,1628861179.577 [Micromodem](INFO): Nmea in: $SNTTA,0.050088,,,,132619.86*45 2021-08-13T13:26:19.611Z,1628861179.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 238.349942 deg, deltaT: 4.455308 s, approachRate: 0.161605 m/s, LOS rate: 0.291788 deg/s, posRepo size: 4 2021-08-13T13:26:22.002Z,1628861182.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:22.365Z,1628861182.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:22.365Z,1628861182.365 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:22.365Z,1628861182.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:22.366Z,1628861182.366 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:22.789Z,1628861182.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00559,189,80,80,5C,FF 2021-08-13T13:26:22.789Z,1628861182.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:22.789Z,1628861182.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:22.791Z,1628861182.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:23.193Z,1628861183.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:23.581Z,1628861183.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00566,189,80,80,5E,FF 2021-08-13T13:26:23.582Z,1628861183.582 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:24.069Z,1628861184.069 [Micromodem](INFO): Nmea in: $SNTTA,0.068617,,,,132624.31*4C 2021-08-13T13:26:24.162Z,1628861184.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 239.505310 deg, deltaT: 4.397515 s, approachRate: 0.177372 m/s, LOS rate: 0.262732 deg/s, posRepo size: 4 2021-08-13T13:26:26.469Z,1628861186.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:26.817Z,1628861186.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:26.817Z,1628861186.817 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:26.817Z,1628861186.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:26.818Z,1628861186.818 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:27.226Z,1628861187.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00566,189,80,80,5E,FF 2021-08-13T13:26:27.226Z,1628861187.226 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:27.226Z,1628861187.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:27.228Z,1628861187.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:27.629Z,1628861187.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:28.039Z,1628861188.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00573,189,80,80,A5,FF 2021-08-13T13:26:28.045Z,1628861188.045 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:28.070Z,1628861188.070 [Micromodem](INFO): Nmea in: $SNTTA,0.303718,0.303337,,,132628.75*59 2021-08-13T13:26:28.475Z,1628861188.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 240.664202 deg, deltaT: 4.514861 s, approachRate: 0.172763 m/s, LOS rate: 0.256684 deg/s, posRepo size: 4 2021-08-13T13:26:30.920Z,1628861190.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:31.267Z,1628861191.267 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:31.267Z,1628861191.267 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:31.267Z,1628861191.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:31.268Z,1628861191.268 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:31.665Z,1628861191.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00573,189,80,80,A5,FF 2021-08-13T13:26:31.665Z,1628861191.665 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:31.665Z,1628861191.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:31.667Z,1628861191.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:32.112Z,1628861192.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:32.477Z,1628861192.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00580,188,80,80,A0,FF 2021-08-13T13:26:32.477Z,1628861192.477 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:32.917Z,1628861192.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132633.19*50 2021-08-13T13:26:32.954Z,1628861192.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 242.671922 deg, deltaT: 4.400810 s, approachRate: 0.177240 m/s, LOS rate: 0.456216 deg/s, posRepo size: 4 2021-08-13T13:26:34.134Z,1628861194.134 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:26:35.318Z,1628861195.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:35.715Z,1628861195.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:35.717Z,1628861195.717 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:35.717Z,1628861195.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:35.718Z,1628861195.718 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:36.117Z,1628861196.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00580,188,80,80,A0,FF 2021-08-13T13:26:36.117Z,1628861196.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:36.118Z,1628861196.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:36.119Z,1628861196.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:36.517Z,1628861196.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:36.929Z,1628861196.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0058B,18A,80,80,75,FF 2021-08-13T13:26:36.930Z,1628861196.930 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:37.357Z,1628861197.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132637.64*5E 2021-08-13T13:26:37.387Z,1628861197.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.639999 m, bearing: 245.068390 deg, deltaT: 4.437491 s, approachRate: 0.148734 m/s, LOS rate: 0.540050 deg/s, posRepo size: 4 2021-08-13T13:26:39.815Z,1628861199.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:40.154Z,1628861200.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:40.154Z,1628861200.154 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:40.154Z,1628861200.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:40.155Z,1628861200.155 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:40.553Z,1628861200.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0058B,18A,80,80,75,FF 2021-08-13T13:26:40.553Z,1628861200.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:40.553Z,1628861200.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:40.555Z,1628861200.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:40.961Z,1628861200.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:41.357Z,1628861201.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00599,189,80,80,99,FF 2021-08-13T13:26:41.358Z,1628861201.358 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:41.801Z,1628861201.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132642.08*56 2021-08-13T13:26:41.853Z,1628861201.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.480000 m, bearing: 247.453164 deg, deltaT: 4.393798 s, approachRate: 0.191179 m/s, LOS rate: 0.542759 deg/s, posRepo size: 4 2021-08-13T13:26:44.202Z,1628861204.202 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-08-13T13:26:44.242Z,1628861204.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:44.593Z,1628861204.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:44.593Z,1628861204.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:44.593Z,1628861204.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:44.594Z,1628861204.594 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:45.001Z,1628861205.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00599,189,80,80,99,FF 2021-08-13T13:26:45.001Z,1628861205.001 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:45.001Z,1628861205.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:45.003Z,1628861205.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:45.412Z,1628861205.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:45.813Z,1628861205.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A5,189,80,80,B9,FF 2021-08-13T13:26:45.813Z,1628861205.813 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:46.277Z,1628861206.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132646.52*5D 2021-08-13T13:26:46.341Z,1628861206.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 250.340203 deg, deltaT: 4.505940 s, approachRate: 0.159788 m/s, LOS rate: 0.640718 deg/s, posRepo size: 4 2021-08-13T13:26:48.666Z,1628861208.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:49.065Z,1628861209.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:49.065Z,1628861209.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:49.066Z,1628861209.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:49.067Z,1628861209.067 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:49.445Z,1628861209.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,005A5,189,80,80,B9,FF 2021-08-13T13:26:49.446Z,1628861209.446 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:49.446Z,1628861209.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:49.447Z,1628861209.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:49.873Z,1628861209.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:50.249Z,1628861210.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005B6,189,80,80,B9,FF 2021-08-13T13:26:50.249Z,1628861210.249 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:50.253Z,1628861210.253 [Micromodem](INFO): Nmea in: $SNTTA,0.033118,0.194175,,,132650.97*54 2021-08-13T13:26:50.734Z,1628861210.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.219994 m, bearing: 252.310931 deg, deltaT: 4.447668 s, approachRate: 0.229334 m/s, LOS rate: 0.443092 deg/s, posRepo size: 4 2021-08-13T13:26:53.126Z,1628861213.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:53.481Z,1628861213.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:53.481Z,1628861213.481 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:53.481Z,1628861213.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:53.482Z,1628861213.482 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:53.892Z,1628861213.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,005B6,189,80,80,B9,FF 2021-08-13T13:26:53.892Z,1628861213.892 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:53.893Z,1628861213.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:53.895Z,1628861213.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:54.321Z,1628861214.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:54.732Z,1628861214.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,005C2,189,80,80,A5,FF 2021-08-13T13:26:54.733Z,1628861214.733 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:55.137Z,1628861215.137 [Micromodem](INFO): Nmea in: $SNTTA,0.103972,,,,132655.42*4E 2021-08-13T13:26:55.159Z,1628861215.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 355.873975 deg, deltaT: 4.451051 s, approachRate: 0.161761 m/s, LOS rate: 23.267099 deg/s, posRepo size: 4 2021-08-13T13:26:57.554Z,1628861217.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:26:57.950Z,1628861217.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:26:57.950Z,1628861217.950 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:26:57.951Z,1628861217.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:26:57.951Z,1628861217.951 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:26:58.354Z,1628861218.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D1C,000,005C2,189,80,80,A5,FF 2021-08-13T13:26:58.354Z,1628861218.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:26:58.354Z,1628861218.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:26:58.355Z,1628861218.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:26:58.789Z,1628861218.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:26:59.155Z,1628861219.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,005CF,188,80,80,7E,FF 2021-08-13T13:26:59.155Z,1628861219.155 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:26:59.575Z,1628861219.575 [Micromodem](INFO): Nmea in: $SNTTA,0.053071,,,,132659.90*43 2021-08-13T13:26:59.620Z,1628861219.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 1.440417 deg, deltaT: 4.392963 s, approachRate: 0.177556 m/s, LOS rate: 1.267124 deg/s, posRepo size: 4 2021-08-13T13:27:02.074Z,1628861222.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:02.389Z,1628861222.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:02.389Z,1628861222.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:02.389Z,1628861222.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:02.390Z,1628861222.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:02.785Z,1628861222.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE9,000,005CF,188,80,80,7E,FF 2021-08-13T13:27:02.785Z,1628861222.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:02.785Z,1628861222.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:02.787Z,1628861222.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:03.202Z,1628861223.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:03.593Z,1628861223.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,005DD,189,80,80,AE,FF 2021-08-13T13:27:03.593Z,1628861223.593 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:04.051Z,1628861224.051 [Micromodem](INFO): Nmea in: $SNTTA,0.126086,,,,132704.31*4A 2021-08-13T13:27:04.113Z,1628861224.113 [RDI_Pathfinder](ERROR): only read 1 of 4 data items 2021-08-13T13:27:04.153Z,1628861224.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 0.783313 deg, deltaT: 4.489094 s, approachRate: 0.187120 m/s, LOS rate: -0.146378 deg/s, posRepo size: 4 2021-08-13T13:27:06.469Z,1628861226.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:06.829Z,1628861226.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:06.829Z,1628861226.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:06.830Z,1628861226.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:06.830Z,1628861226.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:07.230Z,1628861227.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D1F,000,005DD,189,80,80,AE,FF 2021-08-13T13:27:07.230Z,1628861227.230 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:07.230Z,1628861227.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:07.232Z,1628861227.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:07.645Z,1628861227.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:08.068Z,1628861228.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D23,000,005E8,18A,80,80,B5,FF 2021-08-13T13:27:08.070Z,1628861228.070 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:08.474Z,1628861228.474 [Micromodem](INFO): Nmea in: $SNTTA,0.097417,,,,132708.76*42 2021-08-13T13:27:08.490Z,1628861228.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 2.086008 deg, deltaT: 4.476660 s, approachRate: 0.147432 m/s, LOS rate: 0.290997 deg/s, posRepo size: 4 2021-08-13T13:27:10.909Z,1628861230.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:11.273Z,1628861231.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:11.273Z,1628861231.273 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:11.273Z,1628861231.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:11.274Z,1628861231.274 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:11.679Z,1628861231.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D23,000,005E8,18A,80,80,B5,FF 2021-08-13T13:27:11.679Z,1628861231.679 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:11.679Z,1628861231.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:11.681Z,1628861231.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:12.122Z,1628861232.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:12.485Z,1628861232.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F9,189,80,80,9A,FF 2021-08-13T13:27:12.486Z,1628861232.486 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:12.488Z,1628861232.488 [Micromodem](INFO): Nmea in: EV,132713,COPROC,0.20.0.39330*7E 2021-08-13T13:27:12.489Z,1628861232.489 [Micromodem](ERROR): Response from modem failed NMEA checksum: EV,132713,COPROC,0.20.0.39330*7E expected 0 2021-08-13T13:27:12.946Z,1628861232.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 263.090417 deg, deltaT: 4.365819 s, approachRate: 0.233632 m/s, LOS rate: -22.675144 deg/s, posRepo size: 4 2021-08-13T13:27:15.346Z,1628861235.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:15.720Z,1628861235.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:15.720Z,1628861235.720 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:15.721Z,1628861235.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:15.722Z,1628861235.722 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:16.117Z,1628861236.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,005F9,189,80,80,9A,FF 2021-08-13T13:27:16.117Z,1628861236.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:16.117Z,1628861236.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:16.119Z,1628861236.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:16.525Z,1628861236.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:16.933Z,1628861236.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,495,000,00605,189,80,80,65,FF 2021-08-13T13:27:16.934Z,1628861236.934 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:17.360Z,1628861237.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 269.492272 deg, deltaT: 4.494066 s, approachRate: 0.160213 m/s, LOS rate: 1.424513 deg/s, posRepo size: 4 2021-08-13T13:27:19.801Z,1628861239.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:20.157Z,1628861240.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:20.157Z,1628861240.157 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:20.157Z,1628861240.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:20.158Z,1628861240.158 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:20.565Z,1628861240.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 495,000,00605,189,80,80,65,FF 2021-08-13T13:27:20.565Z,1628861240.565 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:20.565Z,1628861240.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:20.567Z,1628861240.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:20.973Z,1628861240.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:21.381Z,1628861241.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,324,000,00612,18A,80,80,89,FF 2021-08-13T13:27:21.381Z,1628861241.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:21.818Z,1628861241.818 [Micromodem](INFO): Nmea in: $SNTTA,0.048177,,,,132722.09*43 2021-08-13T13:27:21.843Z,1628861241.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.740002 m, bearing: 289.055791 deg, deltaT: 4.420565 s, approachRate: 0.176447 m/s, LOS rate: 4.425570 deg/s, posRepo size: 4 2021-08-13T13:27:24.214Z,1628861244.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:24.605Z,1628861244.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:24.605Z,1628861244.605 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:24.605Z,1628861244.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:24.606Z,1628861244.606 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:25.010Z,1628861245.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 324,000,00612,18A,80,80,89,FF 2021-08-13T13:27:25.010Z,1628861245.010 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:25.011Z,1628861245.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:25.012Z,1628861245.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:25.413Z,1628861245.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:25.822Z,1628861245.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0061E,189,80,80,9A,FF 2021-08-13T13:27:25.822Z,1628861245.822 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:26.230Z,1628861246.230 [Micromodem](INFO): Nmea in: $SNTTA,0.050901,0.453151,,,132726.53*51 2021-08-13T13:27:26.269Z,1628861246.269 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T13:27:26.283Z,1628861246.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 265.926940 deg, deltaT: 4.454311 s, approachRate: 0.161640 m/s, LOS rate: -5.192464 deg/s, posRepo size: 4 2021-08-13T13:27:28.658Z,1628861248.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:29.066Z,1628861249.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:29.066Z,1628861249.066 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:29.069Z,1628861249.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:29.074Z,1628861249.074 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:29.453Z,1628861249.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0061E,189,80,80,9A,FF 2021-08-13T13:27:29.453Z,1628861249.453 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:29.453Z,1628861249.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:29.455Z,1628861249.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:29.857Z,1628861249.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:30.261Z,1628861250.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,0062B,189,80,80,66,FF 2021-08-13T13:27:30.261Z,1628861250.261 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:30.265Z,1628861250.265 [Micromodem](INFO): Nmea in: $SNTTA,0.076338,0.229651,,,132730.98*59 2021-08-13T13:27:30.746Z,1628861250.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 286.473625 deg, deltaT: 4.466677 s, approachRate: 0.174629 m/s, LOS rate: 4.599993 deg/s, posRepo size: 4 2021-08-13T13:27:33.113Z,1628861253.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:33.498Z,1628861253.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:33.498Z,1628861253.498 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:33.498Z,1628861253.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:33.499Z,1628861253.499 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:33.894Z,1628861253.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 373,000,0062B,189,80,80,66,FF 2021-08-13T13:27:33.894Z,1628861253.894 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:33.894Z,1628861253.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:33.897Z,1628861253.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:34.312Z,1628861254.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:34.724Z,1628861254.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44B,000,0063A,189,80,80,7B,FF 2021-08-13T13:27:34.726Z,1628861254.726 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:35.145Z,1628861255.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132735.42*59 2021-08-13T13:27:35.188Z,1628861255.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 276.368988 deg, deltaT: 4.444253 s, approachRate: 0.202507 m/s, LOS rate: -2.273641 deg/s, posRepo size: 4 2021-08-13T13:27:37.550Z,1628861257.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:37.945Z,1628861257.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:37.945Z,1628861257.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:37.945Z,1628861257.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:37.946Z,1628861257.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:38.341Z,1628861258.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 44B,000,0063A,189,80,80,7B,FF 2021-08-13T13:27:38.342Z,1628861258.342 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:38.342Z,1628861258.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:38.343Z,1628861258.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:38.776Z,1628861258.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:39.145Z,1628861259.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F3,000,00644,189,80,80,91,FF 2021-08-13T13:27:39.146Z,1628861259.146 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:39.590Z,1628861259.590 [Micromodem](INFO): Nmea in: $SNTTA,0.053875,,,,132739.87*4E 2021-08-13T13:27:39.617Z,1628861259.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 268.880341 deg, deltaT: 4.432650 s, approachRate: 0.135359 m/s, LOS rate: -1.689429 deg/s, posRepo size: 4 2021-08-13T13:27:42.073Z,1628861262.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:42.385Z,1628861262.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:42.385Z,1628861262.385 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:42.385Z,1628861262.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:42.386Z,1628861262.386 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:42.785Z,1628861262.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4F3,000,00644,189,80,80,91,FF 2021-08-13T13:27:42.785Z,1628861262.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:42.785Z,1628861262.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:42.787Z,1628861262.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:43.189Z,1628861263.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:43.594Z,1628861263.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E1,000,00653,18A,80,80,7F,FF 2021-08-13T13:27:43.594Z,1628861263.594 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:44.048Z,1628861264.048 [Micromodem](INFO): Nmea in: $SNTTA,0.049297,,,,132744.31*44 2021-08-13T13:27:44.126Z,1628861264.126 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:27:44.164Z,1628861264.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 270.443744 deg, deltaT: 4.419345 s, approachRate: 0.203651 m/s, LOS rate: 0.353764 deg/s, posRepo size: 4 2021-08-13T13:27:46.474Z,1628861266.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:46.829Z,1628861266.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:46.829Z,1628861266.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:46.829Z,1628861266.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:46.830Z,1628861266.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:47.225Z,1628861267.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4E1,000,00653,18A,80,80,7F,FF 2021-08-13T13:27:47.225Z,1628861267.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:47.225Z,1628861267.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:47.227Z,1628861267.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:47.649Z,1628861267.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:48.073Z,1628861268.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C8,000,00663,189,80,80,98,FF 2021-08-13T13:27:48.074Z,1628861268.074 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:48.478Z,1628861268.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132748.75*57 2021-08-13T13:27:48.500Z,1628861268.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 271.917180 deg, deltaT: 4.516180 s, approachRate: 0.212568 m/s, LOS rate: 0.326257 deg/s, posRepo size: 4 2021-08-13T13:27:50.929Z,1628861270.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:51.265Z,1628861271.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:51.265Z,1628861271.265 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:51.265Z,1628861271.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:51.266Z,1628861271.266 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:51.681Z,1628861271.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4C8,000,00663,189,80,80,98,FF 2021-08-13T13:27:51.681Z,1628861271.681 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:51.681Z,1628861271.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:51.683Z,1628861271.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:52.109Z,1628861272.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:52.486Z,1628861272.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0066D,189,80,80,8F,FF 2021-08-13T13:27:52.487Z,1628861272.487 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:27:52.913Z,1628861272.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132753.21*5C 2021-08-13T13:27:52.950Z,1628861272.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.200008 m, bearing: 269.809794 deg, deltaT: 4.381433 s, approachRate: 0.136944 m/s, LOS rate: -0.480981 deg/s, posRepo size: 4 2021-08-13T13:27:55.338Z,1628861275.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:55.724Z,1628861275.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:27:55.725Z,1628861275.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:27:55.726Z,1628861275.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:27:55.727Z,1628861275.727 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:27:56.117Z,1628861276.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0066D,189,80,80,8F,FF 2021-08-13T13:27:56.117Z,1628861276.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:27:56.117Z,1628861276.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:27:56.119Z,1628861276.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:27:56.527Z,1628861276.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:27:57.340Z,1628861277.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132757.64*59 2021-08-13T13:27:58.200Z,1628861278.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:27:59.788Z,1628861279.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 D,189,80,80,8F,FF 2021-08-13T13:27:59.789Z,1628861279.789 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 D,189,80,80,8F,FF 2021-08-13T13:27:59.789Z,1628861279.789 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:28:01.000Z,1628861281.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:01.365Z,1628861281.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:01.365Z,1628861281.365 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:01.366Z,1628861281.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:01.367Z,1628861281.367 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:01.789Z,1628861281.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 D,189,80,80,8F,FF 2021-08-13T13:28:01.789Z,1628861281.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:01.789Z,1628861281.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:01.791Z,1628861281.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:02.178Z,1628861282.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:02.582Z,1628861282.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0068E,189,80,80,93,FF 2021-08-13T13:28:02.582Z,1628861282.582 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:03.010Z,1628861283.010 [Micromodem](INFO): Nmea in: $SNTTA,,0.022890,,,132803.31*48 2021-08-13T13:28:03.075Z,1628861283.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 272.405211 deg, deltaT: 10.066359 s, approachRate: 0.196694 m/s, LOS rate: 0.257831 deg/s, posRepo size: 4 2021-08-13T13:28:05.429Z,1628861285.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:05.805Z,1628861285.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:05.805Z,1628861285.805 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:05.805Z,1628861285.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:05.806Z,1628861285.806 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:06.221Z,1628861286.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0068E,189,80,80,93,FF 2021-08-13T13:28:06.221Z,1628861286.221 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:06.222Z,1628861286.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:06.223Z,1628861286.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:06.625Z,1628861286.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:07.021Z,1628861287.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3ED,000,0069B,18A,80,80,75,FF 2021-08-13T13:28:07.021Z,1628861287.021 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:07.449Z,1628861287.449 [Micromodem](INFO): Nmea in: $SNTTA,0.060054,,,,132807.75*4A 2021-08-13T13:28:07.473Z,1628861287.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 287.628774 deg, deltaT: 4.448623 s, approachRate: 0.175334 m/s, LOS rate: 3.422084 deg/s, posRepo size: 4 2021-08-13T13:28:09.906Z,1628861289.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:10.253Z,1628861290.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:10.253Z,1628861290.253 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:10.253Z,1628861290.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:10.254Z,1628861290.254 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:10.665Z,1628861290.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3ED,000,0069B,18A,80,80,75,FF 2021-08-13T13:28:10.665Z,1628861290.665 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:10.665Z,1628861290.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:10.667Z,1628861290.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:11.069Z,1628861291.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:11.465Z,1628861291.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A5,000,006A8,189,80,80,9E,FF 2021-08-13T13:28:11.466Z,1628861291.466 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:11.909Z,1628861291.909 [Micromodem](INFO): Nmea in: $SNTTA,0.081929,,,,132812.19*48 2021-08-13T13:28:11.935Z,1628861291.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 280.257633 deg, deltaT: 4.454649 s, approachRate: 0.175098 m/s, LOS rate: -1.654707 deg/s, posRepo size: 4 2021-08-13T13:28:14.340Z,1628861294.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:14.708Z,1628861294.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:14.708Z,1628861294.708 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:14.709Z,1628861294.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:14.710Z,1628861294.710 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:15.101Z,1628861295.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4A5,000,006A8,189,80,80,9E,FF 2021-08-13T13:28:15.101Z,1628861295.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:15.101Z,1628861295.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:15.103Z,1628861295.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:15.509Z,1628861295.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:15.917Z,1628861295.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006B9,189,80,80,95,FF 2021-08-13T13:28:15.918Z,1628861295.918 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:16.346Z,1628861296.346 [Micromodem](INFO): Nmea in: $SNTTA,0.095288,,,,132816.63*44 2021-08-13T13:28:16.386Z,1628861296.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.759995 m, bearing: 276.786804 deg, deltaT: 4.441333 s, approachRate: 0.229660 m/s, LOS rate: -0.781484 deg/s, posRepo size: 4 2021-08-13T13:28:18.797Z,1628861298.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:19.157Z,1628861299.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:19.157Z,1628861299.157 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:19.157Z,1628861299.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:19.158Z,1628861299.158 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:19.545Z,1628861299.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,006B9,189,80,80,95,FF 2021-08-13T13:28:19.546Z,1628861299.546 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:19.546Z,1628861299.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:19.547Z,1628861299.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:19.953Z,1628861299.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:20.354Z,1628861300.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCF,000,006C5,188,80,80,88,FF 2021-08-13T13:28:20.354Z,1628861300.354 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:20.793Z,1628861300.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132821.07*52 2021-08-13T13:28:20.833Z,1628861300.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 22.527434 deg, deltaT: 4.475592 s, approachRate: 0.160875 m/s, LOS rate: 23.626067 deg/s, posRepo size: 4 2021-08-13T13:28:23.198Z,1628861303.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:23.585Z,1628861303.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:23.585Z,1628861303.585 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:23.586Z,1628861303.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:23.587Z,1628861303.587 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:23.999Z,1628861303.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CCF,000,006C5,188,80,80,88,FF 2021-08-13T13:28:23.999Z,1628861303.999 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:23.999Z,1628861303.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:24.001Z,1628861304.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:24.405Z,1628861304.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:24.801Z,1628861304.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D2,18A,80,80,82,FF 2021-08-13T13:28:24.802Z,1628861304.802 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:25.250Z,1628861305.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132825.52*56 2021-08-13T13:28:25.272Z,1628861305.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 277.868215 deg, deltaT: 4.437137 s, approachRate: 0.175789 m/s, LOS rate: -23.587107 deg/s, posRepo size: 4 2021-08-13T13:28:27.663Z,1628861307.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:28.036Z,1628861308.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:28.037Z,1628861308.037 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:28.037Z,1628861308.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:28.039Z,1628861308.039 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:28.433Z,1628861308.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,006D2,18A,80,80,82,FF 2021-08-13T13:28:28.433Z,1628861308.433 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:28.433Z,1628861308.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:28.435Z,1628861308.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:28.853Z,1628861308.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:29.253Z,1628861309.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,006DA,184,80,80,7A,FF 2021-08-13T13:28:29.253Z,1628861309.253 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:29.680Z,1628861309.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 344.014198 deg, deltaT: 4.437222 s, approachRate: 0.108177 m/s, LOS rate: 14.907071 deg/s, posRepo size: 4 2021-08-13T13:28:32.167Z,1628861312.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:32.473Z,1628861312.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:32.473Z,1628861312.473 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:32.473Z,1628861312.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:32.474Z,1628861312.474 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:32.882Z,1628861312.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC8,000,006DA,184,80,80,7A,FF 2021-08-13T13:28:32.882Z,1628861312.882 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:32.882Z,1628861312.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:32.885Z,1628861312.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:33.289Z,1628861313.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:33.687Z,1628861313.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E6,189,80,80,97,FF 2021-08-13T13:28:33.688Z,1628861313.688 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:34.145Z,1628861314.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132834.41*54 2021-08-13T13:28:34.209Z,1628861314.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 275.942129 deg, deltaT: 4.458783 s, approachRate: 0.161478 m/s, LOS rate: -15.266962 deg/s, posRepo size: 4 2021-08-13T13:28:36.542Z,1628861316.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:36.921Z,1628861316.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:36.921Z,1628861316.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:36.921Z,1628861316.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:36.922Z,1628861316.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:37.329Z,1628861317.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,006E6,189,80,80,97,FF 2021-08-13T13:28:37.329Z,1628861317.329 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:37.329Z,1628861317.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:37.331Z,1628861317.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:37.745Z,1628861317.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:38.149Z,1628861318.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F2,189,80,80,7A,FF 2021-08-13T13:28:38.150Z,1628861318.150 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:38.153Z,1628861318.153 [Micromodem](INFO): Nmea in: $SNTTA,0.291787,0.291787,,,132838.86*53 2021-08-13T13:28:38.575Z,1628861318.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 274.829245 deg, deltaT: 4.478367 s, approachRate: 0.160775 m/s, LOS rate: -0.248502 deg/s, posRepo size: 4 2021-08-13T13:28:41.003Z,1628861321.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:41.362Z,1628861321.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:41.362Z,1628861321.362 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:41.362Z,1628861321.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:41.363Z,1628861321.363 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:41.777Z,1628861321.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,006F2,189,80,80,7A,FF 2021-08-13T13:28:41.777Z,1628861321.777 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:41.777Z,1628861321.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:41.779Z,1628861321.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:42.173Z,1628861322.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:42.994Z,1628861322.994 [Micromodem](INFO): Nmea in: $SNTTA,0.119936,,,,132843.30*49 2021-08-13T13:28:43.840Z,1628861323.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:45.405Z,1628861325.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,189,80,80,7A,FF 2021-08-13T13:28:45.405Z,1628861325.405 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,189,80,80,7A,FF 2021-08-13T13:28:45.405Z,1628861325.405 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:28:46.646Z,1628861326.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:47.017Z,1628861327.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:47.017Z,1628861327.017 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:47.017Z,1628861327.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:47.018Z,1628861327.018 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:47.425Z,1628861327.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,189,80,80,7A,FF 2021-08-13T13:28:47.425Z,1628861327.425 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:47.425Z,1628861327.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:47.427Z,1628861327.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:47.836Z,1628861327.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:48.229Z,1628861328.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42E,000,00710,189,80,80,77,FF 2021-08-13T13:28:48.230Z,1628861328.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:48.657Z,1628861328.657 [Micromodem](INFO): Nmea in: $SNTTA,0.053405,,,,132848.95*4F 2021-08-13T13:28:48.730Z,1628861328.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.980003 m, bearing: 283.492466 deg, deltaT: 10.054913 s, approachRate: 0.179017 m/s, LOS rate: 0.861591 deg/s, posRepo size: 4 2021-08-13T13:28:51.108Z,1628861331.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:51.465Z,1628861331.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:51.465Z,1628861331.465 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:51.465Z,1628861331.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:51.466Z,1628861331.466 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:51.878Z,1628861331.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 42E,000,00710,189,80,80,77,FF 2021-08-13T13:28:51.878Z,1628861331.878 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:51.879Z,1628861331.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:51.881Z,1628861331.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:52.280Z,1628861332.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:52.679Z,1628861332.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00717,18A,80,80,8E,FF 2021-08-13T13:28:52.679Z,1628861332.679 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:53.109Z,1628861333.109 [Micromodem](INFO): Nmea in: $SNTTA,0.053797,,,,132853.41*44 2021-08-13T13:28:53.159Z,1628861333.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 271.866937 deg, deltaT: 4.444328 s, approachRate: 0.094502 m/s, LOS rate: -2.615812 deg/s, posRepo size: 4 2021-08-13T13:28:55.523Z,1628861335.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:28:55.917Z,1628861335.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:28:55.917Z,1628861335.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:28:55.918Z,1628861335.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:28:55.920Z,1628861335.920 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:28:56.313Z,1628861336.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00717,18A,80,80,8E,FF 2021-08-13T13:28:56.314Z,1628861336.314 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:28:56.314Z,1628861336.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:28:56.315Z,1628861336.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:28:56.785Z,1628861336.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:28:57.129Z,1628861337.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BA,000,00722,189,80,80,A7,FF 2021-08-13T13:28:57.130Z,1628861337.130 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:28:57.553Z,1628861337.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132857.84*58 2021-08-13T13:28:57.575Z,1628861337.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 275.049669 deg, deltaT: 4.415321 s, approachRate: 0.149480 m/s, LOS rate: 0.720838 deg/s, posRepo size: 4 2021-08-13T13:29:00.055Z,1628861340.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:00.353Z,1628861340.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:00.354Z,1628861340.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:00.354Z,1628861340.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:00.355Z,1628861340.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:00.788Z,1628861340.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4BA,000,00722,189,80,80,A7,FF 2021-08-13T13:29:00.789Z,1628861340.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:00.789Z,1628861340.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:00.790Z,1628861340.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:01.164Z,1628861341.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:01.569Z,1628861341.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0072D,18A,80,80,8A,FF 2021-08-13T13:29:01.569Z,1628861341.569 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:01.982Z,1628861341.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132902.32*54 2021-08-13T13:29:02.071Z,1628861342.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 270.841480 deg, deltaT: 4.481422 s, approachRate: 0.147275 m/s, LOS rate: -0.939030 deg/s, posRepo size: 4 2021-08-13T13:29:04.446Z,1628861344.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:04.810Z,1628861344.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:04.810Z,1628861344.810 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:04.810Z,1628861344.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:04.811Z,1628861344.811 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:05.197Z,1628861345.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0072D,18A,80,80,8A,FF 2021-08-13T13:29:05.197Z,1628861345.197 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:05.197Z,1628861345.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:05.199Z,1628861345.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:05.611Z,1628861345.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:06.025Z,1628861346.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00739,189,80,80,A5,FF 2021-08-13T13:29:06.026Z,1628861346.026 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:06.443Z,1628861346.443 [Micromodem](INFO): Nmea in: $SNTTA,0.358845,0.359145,,,132906.72*5C 2021-08-13T13:29:06.479Z,1628861346.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 270.498386 deg, deltaT: 4.520525 s, approachRate: 0.159272 m/s, LOS rate: -0.075897 deg/s, posRepo size: 4 2021-08-13T13:29:08.890Z,1628861348.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:09.241Z,1628861349.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:09.241Z,1628861349.241 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:09.241Z,1628861349.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:09.242Z,1628861349.242 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:09.650Z,1628861349.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00739,189,80,80,A5,FF 2021-08-13T13:29:09.650Z,1628861349.650 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:09.650Z,1628861349.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:09.653Z,1628861349.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:10.089Z,1628861350.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:10.454Z,1628861350.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D7,000,00744,189,80,80,95,FF 2021-08-13T13:29:10.454Z,1628861350.454 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:10.898Z,1628861350.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132911.18*5E 2021-08-13T13:29:10.942Z,1628861350.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 272.103890 deg, deltaT: 4.348192 s, approachRate: 0.151788 m/s, LOS rate: 0.369235 deg/s, posRepo size: 4 2021-08-13T13:29:13.305Z,1628861353.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:13.682Z,1628861353.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:13.682Z,1628861353.682 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:13.683Z,1628861353.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:13.684Z,1628861353.684 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:14.109Z,1628861354.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4D7,000,00744,189,80,80,95,FF 2021-08-13T13:29:14.109Z,1628861354.109 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:14.109Z,1628861354.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:14.111Z,1628861354.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:14.508Z,1628861354.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:14.890Z,1628861354.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E9,000,0074E,189,80,80,72,FF 2021-08-13T13:29:14.891Z,1628861354.891 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:15.315Z,1628861355.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132915.64*51 2021-08-13T13:29:15.365Z,1628861355.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.700005 m, bearing: 269.915197 deg, deltaT: 4.457398 s, approachRate: 0.134607 m/s, LOS rate: -0.491025 deg/s, posRepo size: 4 2021-08-13T13:29:17.791Z,1628861357.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:18.129Z,1628861358.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:18.129Z,1628861358.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:18.129Z,1628861358.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:18.130Z,1628861358.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:18.529Z,1628861358.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4E9,000,0074E,189,80,80,72,FF 2021-08-13T13:29:18.529Z,1628861358.529 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:18.529Z,1628861358.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:18.531Z,1628861358.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:18.956Z,1628861358.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:19.341Z,1628861359.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0075B,189,80,80,BA,FF 2021-08-13T13:29:19.342Z,1628861359.342 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:19.791Z,1628861359.791 [Micromodem](INFO): Nmea in: $SNTTA,0.056078,,,,132920.06*41 2021-08-13T13:29:19.817Z,1628861359.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.479996 m, bearing: 267.714182 deg, deltaT: 4.405670 s, approachRate: 0.177043 m/s, LOS rate: -0.499587 deg/s, posRepo size: 4 2021-08-13T13:29:22.212Z,1628861362.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:22.569Z,1628861362.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:22.569Z,1628861362.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:22.569Z,1628861362.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:22.570Z,1628861362.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:22.973Z,1628861362.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0075B,189,80,80,BA,FF 2021-08-13T13:29:22.973Z,1628861362.973 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:22.974Z,1628861362.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:22.975Z,1628861362.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:23.377Z,1628861363.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:23.781Z,1628861363.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00767,189,80,80,A9,FF 2021-08-13T13:29:23.781Z,1628861363.781 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:24.239Z,1628861364.239 [Micromodem](INFO): Nmea in: $SNTTA,0.064210,0.470983,,,132924.50*54 2021-08-13T13:29:24.315Z,1628861364.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.200005 m, bearing: 267.183477 deg, deltaT: 4.473724 s, approachRate: 0.160942 m/s, LOS rate: -0.118627 deg/s, posRepo size: 4 2021-08-13T13:29:26.646Z,1628861366.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:27.013Z,1628861367.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:27.013Z,1628861367.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:27.013Z,1628861367.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:27.014Z,1628861367.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:27.425Z,1628861367.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00767,189,80,80,A9,FF 2021-08-13T13:29:27.425Z,1628861367.425 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:27.425Z,1628861367.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:27.427Z,1628861367.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:27.825Z,1628861367.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:28.233Z,1628861368.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00772,189,80,80,A1,FF 2021-08-13T13:29:28.233Z,1628861368.233 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:28.237Z,1628861368.237 [Micromodem](INFO): Nmea in: $SNTTA,0.050846,0.245465,,,132928.95*5A 2021-08-13T13:29:28.658Z,1628861368.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 266.035950 deg, deltaT: 4.482220 s, approachRate: 0.147249 m/s, LOS rate: -0.256017 deg/s, posRepo size: 4 2021-08-13T13:29:31.093Z,1628861371.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:31.457Z,1628861371.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:31.457Z,1628861371.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:31.457Z,1628861371.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:31.458Z,1628861371.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:31.865Z,1628861371.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00772,189,80,80,A1,FF 2021-08-13T13:29:31.866Z,1628861371.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:31.866Z,1628861371.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:31.869Z,1628861371.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:32.273Z,1628861372.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:33.094Z,1628861373.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132933.40*53 2021-08-13T13:29:33.924Z,1628861373.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:35.501Z,1628861375.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,189,80,80,A1,FF 2021-08-13T13:29:35.502Z,1628861375.502 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,189,80,80,A1,FF 2021-08-13T13:29:35.502Z,1628861375.502 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:29:36.771Z,1628861376.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:37.125Z,1628861377.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:37.125Z,1628861377.125 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:37.125Z,1628861377.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:37.126Z,1628861377.126 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:37.521Z,1628861377.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,189,80,80,A1,FF 2021-08-13T13:29:37.521Z,1628861377.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:37.521Z,1628861377.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:37.523Z,1628861377.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:37.936Z,1628861377.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:38.319Z,1628861378.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0078B,189,80,80,B2,FF 2021-08-13T13:29:38.319Z,1628861378.319 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:38.782Z,1628861378.782 [Micromodem](INFO): Nmea in: $SNTTA,0.065440,,,,132939.05*45 2021-08-13T13:29:38.808Z,1628861378.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.360001 m, bearing: 263.548750 deg, deltaT: 10.040900 s, approachRate: 0.149388 m/s, LOS rate: -0.247707 deg/s, posRepo size: 4 2021-08-13T13:29:41.174Z,1628861381.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:41.566Z,1628861381.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:41.566Z,1628861381.566 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:41.566Z,1628861381.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:41.567Z,1628861381.567 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:41.961Z,1628861381.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0078B,189,80,80,B2,FF 2021-08-13T13:29:41.961Z,1628861381.961 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:41.962Z,1628861381.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:41.963Z,1628861381.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:42.368Z,1628861382.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:42.777Z,1628861382.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00798,189,80,80,AE,FF 2021-08-13T13:29:42.777Z,1628861382.777 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:43.202Z,1628861383.202 [Micromodem](INFO): Nmea in: $SNTTA,0.062477,,,,132943.49*43 2021-08-13T13:29:43.218Z,1628861383.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.140007 m, bearing: 262.683721 deg, deltaT: 4.448448 s, approachRate: 0.175343 m/s, LOS rate: -0.194457 deg/s, posRepo size: 4 2021-08-13T13:29:45.629Z,1628861385.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:46.001Z,1628861386.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:46.001Z,1628861386.001 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:46.001Z,1628861386.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:46.002Z,1628861386.002 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:46.405Z,1628861386.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00798,189,80,80,AE,FF 2021-08-13T13:29:46.405Z,1628861386.405 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:46.405Z,1628861386.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:46.407Z,1628861386.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:46.821Z,1628861386.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:47.213Z,1628861387.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007A3,189,80,80,A8,FF 2021-08-13T13:29:47.214Z,1628861387.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:47.661Z,1628861387.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132947.93*5E 2021-08-13T13:29:47.687Z,1628861387.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.799995 m, bearing: 261.467455 deg, deltaT: 4.458068 s, approachRate: 0.148044 m/s, LOS rate: -0.272823 deg/s, posRepo size: 4 2021-08-13T13:29:50.146Z,1628861390.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:50.445Z,1628861390.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:50.445Z,1628861390.445 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:50.445Z,1628861390.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:50.446Z,1628861390.446 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:50.849Z,1628861390.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,007A3,189,80,80,A8,FF 2021-08-13T13:29:50.849Z,1628861390.849 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:50.849Z,1628861390.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:50.851Z,1628861390.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:51.258Z,1628861391.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:51.658Z,1628861391.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,496,000,007B0,18A,80,80,8A,FF 2021-08-13T13:29:51.658Z,1628861391.658 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:52.121Z,1628861392.121 [Micromodem](INFO): Nmea in: $SNTTA,0.492907,0.493033,,,132952.37*5B 2021-08-13T13:29:52.184Z,1628861392.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 266.258833 deg, deltaT: 4.471888 s, approachRate: 0.174426 m/s, LOS rate: 1.071444 deg/s, posRepo size: 4 2021-08-13T13:29:54.518Z,1628861394.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:54.889Z,1628861394.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:54.889Z,1628861394.889 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:54.890Z,1628861394.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:54.891Z,1628861394.891 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:55.293Z,1628861395.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 496,000,007B0,18A,80,80,8A,FF 2021-08-13T13:29:55.293Z,1628861395.293 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:55.293Z,1628861395.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:55.295Z,1628861395.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:29:55.726Z,1628861395.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:29:56.119Z,1628861396.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007BC,189,80,80,99,FF 2021-08-13T13:29:56.136Z,1628861396.136 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:29:56.148Z,1628861396.148 [Micromodem](INFO): Nmea in: $SNTTA,0.307714,0.307396,,,132956.82*50 2021-08-13T13:29:56.541Z,1628861396.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.300003 m, bearing: 259.897523 deg, deltaT: 4.466164 s, approachRate: 0.161211 m/s, LOS rate: -1.424334 deg/s, posRepo size: 4 2021-08-13T13:29:58.961Z,1628861398.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:29:59.341Z,1628861399.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:29:59.341Z,1628861399.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:29:59.341Z,1628861399.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:29:59.342Z,1628861399.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:29:59.773Z,1628861399.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,007BC,189,80,80,99,FF 2021-08-13T13:29:59.773Z,1628861399.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:29:59.773Z,1628861399.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:29:59.775Z,1628861399.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:00.150Z,1628861400.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:00.549Z,1628861400.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007C5,189,80,80,76,FF 2021-08-13T13:30:00.550Z,1628861400.550 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:01.003Z,1628861401.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.839996 m, bearing: 258.706857 deg, deltaT: 4.397911 s, approachRate: 0.122784 m/s, LOS rate: -0.270734 deg/s, posRepo size: 4 2021-08-13T13:30:03.399Z,1628861403.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:03.811Z,1628861403.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:03.811Z,1628861403.811 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:03.811Z,1628861403.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:03.813Z,1628861403.813 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:03.825Z,1628861403.825 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error 2021-08-13T13:30:03.825Z,1628861403.825 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error expected 41 2021-08-13T13:30:03.827Z,1628861403.827 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-08-13T13:30:04.195Z,1628861404.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,007C5,189,80,80,76,FF 2021-08-13T13:30:04.197Z,1628861404.197 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:04.198Z,1628861404.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:04.232Z,1628861404.232 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813133001.415618,06,551,21,0126,0150,126,02,02,01,02,-1,-01,-01,1,3,7,0,150,74.7,-2.55,-100,5.55,-01,-4.92,-12,14500,4000*63 2021-08-13T13:30:04.233Z,1628861404.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:04.996Z,1628861404.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:05.807Z,1628861405.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133005.76*5B 2021-08-13T13:30:06.248Z,1628861406.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:07.813Z,1628861407.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,76,FF 2021-08-13T13:30:07.814Z,1628861407.814 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,189,80,80,76,FF 2021-08-13T13:30:07.814Z,1628861407.814 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:30:09.071Z,1628861409.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:09.435Z,1628861409.435 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:09.435Z,1628861409.435 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:09.435Z,1628861409.435 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:09.436Z,1628861409.436 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:09.841Z,1628861409.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,76,FF 2021-08-13T13:30:09.841Z,1628861409.841 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:09.841Z,1628861409.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:09.843Z,1628861409.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:10.244Z,1628861410.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:10.653Z,1628861410.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1A,000,007E1,189,80,80,BF,FF 2021-08-13T13:30:10.654Z,1628861410.654 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:11.081Z,1628861411.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133011.37*5B 2021-08-13T13:30:11.119Z,1628861411.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.519997 m, bearing: 357.049915 deg, deltaT: 10.116238 s, approachRate: 0.166070 m/s, LOS rate: 9.721308 deg/s, posRepo size: 4 2021-08-13T13:30:13.513Z,1628861413.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:13.889Z,1628861413.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:13.890Z,1628861413.890 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:13.890Z,1628861413.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:13.891Z,1628861413.891 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:14.281Z,1628861414.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D1A,000,007E1,189,80,80,BF,FF 2021-08-13T13:30:14.281Z,1628861414.281 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:14.281Z,1628861414.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:14.283Z,1628861414.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:14.735Z,1628861414.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:15.089Z,1628861415.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,007EC,18A,80,80,C1,FF 2021-08-13T13:30:15.089Z,1628861415.089 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:15.529Z,1628861415.529 [Micromodem](INFO): Nmea in: $SNTTA,0.072676,,,,133015.80*4F 2021-08-13T13:30:15.563Z,1628861415.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.180000 m, bearing: 353.818716 deg, deltaT: 4.391418 s, approachRate: 0.150294 m/s, LOS rate: -0.735798 deg/s, posRepo size: 4 2021-08-13T13:30:17.966Z,1628861417.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:18.321Z,1628861418.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:18.321Z,1628861418.321 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:18.321Z,1628861418.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:18.322Z,1628861418.322 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:18.765Z,1628861418.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D41,000,007EC,18A,80,80,C1,FF 2021-08-13T13:30:18.765Z,1628861418.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:18.765Z,1628861418.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:18.767Z,1628861418.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:19.133Z,1628861419.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:19.538Z,1628861419.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3D,000,007F5,189,80,80,9E,FF 2021-08-13T13:30:19.539Z,1628861419.539 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:19.955Z,1628861419.955 [Micromodem](INFO): Nmea in: $SNTTA,0.072884,,,,133020.29*49 2021-08-13T13:30:20.007Z,1628861420.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 352.742770 deg, deltaT: 4.480361 s, approachRate: 0.120525 m/s, LOS rate: -0.240147 deg/s, posRepo size: 4 2021-08-13T13:30:22.416Z,1628861422.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:22.790Z,1628861422.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:22.790Z,1628861422.790 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:22.790Z,1628861422.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:22.791Z,1628861422.791 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:23.178Z,1628861423.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D3D,000,007F5,189,80,80,9E,FF 2021-08-13T13:30:23.178Z,1628861423.178 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:23.178Z,1628861423.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:23.179Z,1628861423.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:23.574Z,1628861423.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:23.988Z,1628861423.988 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00800,189,80,80,C4,FF 2021-08-13T13:30:23.989Z,1628861423.989 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:24.426Z,1628861424.426 [Micromodem](INFO): Nmea in: $SNTTA,0.328652,,,,133024.70*48 2021-08-13T13:30:24.445Z,1628861424.445 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:30:24.463Z,1628861424.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.379997 m, bearing: 352.117507 deg, deltaT: 4.506394 s, approachRate: 0.146459 m/s, LOS rate: -0.138750 deg/s, posRepo size: 4 2021-08-13T13:30:26.871Z,1628861426.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:27.209Z,1628861427.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:27.209Z,1628861427.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:27.209Z,1628861427.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:27.210Z,1628861427.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:27.623Z,1628861427.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D29,000,00800,189,80,80,C4,FF 2021-08-13T13:30:27.623Z,1628861427.623 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:27.623Z,1628861427.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:27.627Z,1628861427.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:28.036Z,1628861428.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:28.421Z,1628861428.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,0080A,18A,80,80,B6,FF 2021-08-13T13:30:28.422Z,1628861428.422 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:28.870Z,1628861428.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133029.15*50 2021-08-13T13:30:28.917Z,1628861428.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.979996 m, bearing: 350.609811 deg, deltaT: 4.351918 s, approachRate: 0.137870 m/s, LOS rate: -0.346444 deg/s, posRepo size: 4 2021-08-13T13:30:31.264Z,1628861431.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:31.653Z,1628861431.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:31.653Z,1628861431.653 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:31.653Z,1628861431.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:31.654Z,1628861431.654 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:32.093Z,1628861432.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D26,000,0080A,18A,80,80,B6,FF 2021-08-13T13:30:32.093Z,1628861432.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:32.093Z,1628861432.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:32.095Z,1628861432.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:32.465Z,1628861432.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:32.866Z,1628861432.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00817,189,80,80,B7,FF 2021-08-13T13:30:32.866Z,1628861432.866 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:33.297Z,1628861433.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133033.62*5B 2021-08-13T13:30:33.350Z,1628861433.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.760010 m, bearing: 248.805323 deg, deltaT: 4.481774 s, approachRate: 0.174041 m/s, LOS rate: -22.715222 deg/s, posRepo size: 4 2021-08-13T13:30:35.763Z,1628861435.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:36.109Z,1628861436.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:36.109Z,1628861436.109 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:36.109Z,1628861436.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:36.110Z,1628861436.110 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:36.505Z,1628861436.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00817,189,80,80,B7,FF 2021-08-13T13:30:36.506Z,1628861436.506 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:36.506Z,1628861436.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:36.507Z,1628861436.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:36.913Z,1628861436.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:37.309Z,1628861437.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00824,189,80,80,AC,FF 2021-08-13T13:30:37.309Z,1628861437.309 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:37.749Z,1628861437.749 [Micromodem](INFO): Nmea in: $SNTTA,,0.057823,,,133038.03*42 2021-08-13T13:30:37.788Z,1628861437.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 247.836665 deg, deltaT: 4.461655 s, approachRate: 0.174821 m/s, LOS rate: -0.217107 deg/s, posRepo size: 4 2021-08-13T13:30:40.207Z,1628861440.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:40.545Z,1628861440.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:40.546Z,1628861440.546 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:40.546Z,1628861440.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:40.547Z,1628861440.547 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:40.945Z,1628861440.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00824,189,80,80,AC,FF 2021-08-13T13:30:40.945Z,1628861440.945 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:40.945Z,1628861440.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:40.947Z,1628861440.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:41.357Z,1628861441.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:41.773Z,1628861441.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0082D,189,80,80,7C,FF 2021-08-13T13:30:41.774Z,1628861441.773 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:42.185Z,1628861442.185 [Micromodem](INFO): Nmea in: $SNTTA,0.076470,,,,133042.47*46 2021-08-13T13:30:42.238Z,1628861442.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.080002 m, bearing: 246.749764 deg, deltaT: 4.450278 s, approachRate: 0.121341 m/s, LOS rate: -0.244232 deg/s, posRepo size: 4 2021-08-13T13:30:44.607Z,1628861444.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:44.985Z,1628861444.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:44.985Z,1628861444.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:44.986Z,1628861444.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:44.987Z,1628861444.987 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:45.397Z,1628861445.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0082D,189,80,80,7C,FF 2021-08-13T13:30:45.397Z,1628861445.397 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:45.398Z,1628861445.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:45.399Z,1628861445.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:45.797Z,1628861445.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:46.201Z,1628861446.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,00835,189,80,80,A3,FF 2021-08-13T13:30:46.202Z,1628861446.202 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:46.205Z,1628861446.205 [Micromodem](INFO): Nmea in: $SNTTA,0.257518,0.257356,,,133046.92*5A 2021-08-13T13:30:46.628Z,1628861446.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.560005 m, bearing: 346.920526 deg, deltaT: 4.450324 s, approachRate: 0.107858 m/s, LOS rate: 22.508644 deg/s, posRepo size: 4 2021-08-13T13:30:49.070Z,1628861449.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:49.437Z,1628861449.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:49.437Z,1628861449.437 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:49.437Z,1628861449.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:49.438Z,1628861449.438 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:49.838Z,1628861449.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D19,000,00835,189,80,80,A3,FF 2021-08-13T13:30:49.838Z,1628861449.838 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:49.838Z,1628861449.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:49.839Z,1628861449.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:50.236Z,1628861450.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:50.647Z,1628861450.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,0083C,18A,80,80,A4,FF 2021-08-13T13:30:50.647Z,1628861450.647 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:51.074Z,1628861451.074 [Micromodem](INFO): Nmea in: $SNTTA,0.061364,,,,133051.37*47 2021-08-13T13:30:51.100Z,1628861451.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 345.410261 deg, deltaT: 4.375567 s, approachRate: 0.095987 m/s, LOS rate: -0.345158 deg/s, posRepo size: 4 2021-08-13T13:30:53.486Z,1628861453.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:53.882Z,1628861453.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:53.882Z,1628861453.882 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:53.882Z,1628861453.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:53.883Z,1628861453.883 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:54.293Z,1628861454.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D21,000,0083C,18A,80,80,A4,FF 2021-08-13T13:30:54.293Z,1628861454.293 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:54.293Z,1628861454.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:54.295Z,1628861454.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:54.704Z,1628861454.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:54.759Z,1628861454.759 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude 2021-08-13T13:30:55.085Z,1628861455.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D11,000,0084E,189,80,80,A3,FF 2021-08-13T13:30:55.085Z,1628861455.085 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:55.521Z,1628861455.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133055.82*55 2021-08-13T13:30:55.543Z,1628861455.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.060005 m, bearing: 345.550963 deg, deltaT: 4.462645 s, approachRate: 0.242009 m/s, LOS rate: 0.031529 deg/s, posRepo size: 4 2021-08-13T13:30:57.974Z,1628861457.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:30:58.321Z,1628861458.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:30:58.321Z,1628861458.321 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:30:58.321Z,1628861458.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:30:58.322Z,1628861458.322 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:30:58.733Z,1628861458.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D11,000,0084E,189,80,80,A3,FF 2021-08-13T13:30:58.734Z,1628861458.734 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:30:58.734Z,1628861458.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:30:58.740Z,1628861458.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:30:59.133Z,1628861459.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:30:59.525Z,1628861459.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,00854,189,80,80,B8,FF 2021-08-13T13:30:59.526Z,1628861459.526 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:30:59.981Z,1628861459.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133100.26*5A 2021-08-13T13:31:00.073Z,1628861460.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.420006 m, bearing: 345.002608 deg, deltaT: 4.435811 s, approachRate: 0.081158 m/s, LOS rate: -0.123620 deg/s, posRepo size: 4 2021-08-13T13:31:02.413Z,1628861462.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:02.777Z,1628861462.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:02.777Z,1628861462.777 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:02.778Z,1628861462.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:02.779Z,1628861462.779 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:03.165Z,1628861463.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D15,000,00854,189,80,80,B8,FF 2021-08-13T13:31:03.165Z,1628861463.165 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:03.165Z,1628861463.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:03.167Z,1628861463.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:03.576Z,1628861463.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:04.394Z,1628861464.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133104.69*55 2021-08-13T13:31:05.206Z,1628861465.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:06.805Z,1628861466.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 4,189,80,80,B8,FF 2021-08-13T13:31:06.805Z,1628861466.805 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 4,189,80,80,B8,FF 2021-08-13T13:31:06.805Z,1628861466.805 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:31:08.085Z,1628861468.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:08.421Z,1628861468.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:08.421Z,1628861468.421 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:08.421Z,1628861468.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:08.422Z,1628861468.422 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:08.821Z,1628861468.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 4,189,80,80,B8,FF 2021-08-13T13:31:08.821Z,1628861468.821 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:08.821Z,1628861468.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:08.823Z,1628861468.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:09.259Z,1628861469.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:09.630Z,1628861469.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00878,189,80,80,97,FF 2021-08-13T13:31:09.630Z,1628861469.630 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:10.094Z,1628861470.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133110.35*59 2021-08-13T13:31:10.163Z,1628861470.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.580002 m, bearing: 243.025699 deg, deltaT: 10.084363 s, approachRate: 0.214193 m/s, LOS rate: -10.112380 deg/s, posRepo size: 4 2021-08-13T13:31:12.161Z,1628861472.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:12.457Z,1628861472.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:12.457Z,1628861472.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:12.457Z,1628861472.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:12.458Z,1628861472.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:12.861Z,1628861472.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00878,189,80,80,97,FF 2021-08-13T13:31:12.861Z,1628861472.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:12.861Z,1628861472.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:12.863Z,1628861472.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:13.269Z,1628861473.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:13.674Z,1628861473.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0087F,189,80,80,AD,FF 2021-08-13T13:31:13.675Z,1628861473.675 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:14.129Z,1628861474.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133114.39*51 2021-08-13T13:31:14.206Z,1628861474.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.000000 m, bearing: 242.504582 deg, deltaT: 4.094223 s, approachRate: 0.102583 m/s, LOS rate: -0.127281 deg/s, posRepo size: 4 2021-08-13T13:31:16.522Z,1628861476.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:16.909Z,1628861476.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:16.909Z,1628861476.909 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:16.909Z,1628861476.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:16.910Z,1628861476.910 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:17.309Z,1628861477.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0087F,189,80,80,AD,FF 2021-08-13T13:31:17.309Z,1628861477.309 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:17.309Z,1628861477.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:17.311Z,1628861477.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:17.741Z,1628861477.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:18.121Z,1628861478.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0088B,18A,80,80,C3,FF 2021-08-13T13:31:18.122Z,1628861478.122 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:18.556Z,1628861478.556 [Micromodem](INFO): Nmea in: $SNTTA,0.067969,,,,133118.83*45 2021-08-13T13:31:18.579Z,1628861478.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 242.864124 deg, deltaT: 4.454928 s, approachRate: 0.161619 m/s, LOS rate: 0.080706 deg/s, posRepo size: 4 2021-08-13T13:31:20.989Z,1628861480.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:21.349Z,1628861481.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:21.349Z,1628861481.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:21.349Z,1628861481.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:21.350Z,1628861481.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:21.773Z,1628861481.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0088B,18A,80,80,C3,FF 2021-08-13T13:31:21.773Z,1628861481.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:21.773Z,1628861481.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:21.775Z,1628861481.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:22.157Z,1628861482.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:22.561Z,1628861482.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0089A,188,80,80,9B,FF 2021-08-13T13:31:22.562Z,1628861482.562 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:22.989Z,1628861482.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133123.30*5C 2021-08-13T13:31:23.044Z,1628861483.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.619995 m, bearing: 242.791642 deg, deltaT: 4.381790 s, approachRate: 0.205394 m/s, LOS rate: -0.016542 deg/s, posRepo size: 4 2021-08-13T13:31:25.406Z,1628861485.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:25.789Z,1628861485.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:25.789Z,1628861485.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:25.789Z,1628861485.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:25.790Z,1628861485.790 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:26.201Z,1628861486.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0089A,188,80,80,9B,FF 2021-08-13T13:31:26.202Z,1628861486.202 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:26.202Z,1628861486.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:26.203Z,1628861486.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:26.600Z,1628861486.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:27.001Z,1628861487.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008A6,18A,80,80,B2,FF 2021-08-13T13:31:27.002Z,1628861487.002 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:27.433Z,1628861487.433 [Micromodem](INFO): Nmea in: $SNTTA,0.083725,,,,133127.73*4A 2021-08-13T13:31:27.471Z,1628861487.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 242.756616 deg, deltaT: 4.478790 s, approachRate: 0.160760 m/s, LOS rate: -0.007820 deg/s, posRepo size: 4 2021-08-13T13:31:29.877Z,1628861489.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:30.237Z,1628861490.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:30.237Z,1628861490.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:30.237Z,1628861490.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:30.238Z,1628861490.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:30.637Z,1628861490.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,008A6,18A,80,80,B2,FF 2021-08-13T13:31:30.637Z,1628861490.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:30.637Z,1628861490.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:30.639Z,1628861490.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:31.049Z,1628861491.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:31.445Z,1628861491.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008B2,189,80,80,B3,FF 2021-08-13T13:31:31.446Z,1628861491.446 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:31.878Z,1628861491.878 [Micromodem](INFO): Nmea in: $SNTTA,0.070172,,,,133132.16*45 2021-08-13T13:31:31.930Z,1628861491.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.060005 m, bearing: 243.428106 deg, deltaT: 4.405578 s, approachRate: 0.163429 m/s, LOS rate: 0.152418 deg/s, posRepo size: 4 2021-08-13T13:31:34.343Z,1628861494.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:34.680Z,1628861494.680 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:34.680Z,1628861494.680 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:34.680Z,1628861494.680 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:34.681Z,1628861494.681 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:35.101Z,1628861495.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,008B2,189,80,80,B3,FF 2021-08-13T13:31:35.101Z,1628861495.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:35.101Z,1628861495.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:35.103Z,1628861495.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:35.497Z,1628861495.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:35.898Z,1628861495.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,008C5,188,80,80,91,FF 2021-08-13T13:31:35.899Z,1628861495.899 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:36.321Z,1628861496.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133136.63*5E 2021-08-13T13:31:36.371Z,1628861496.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 345.046349 deg, deltaT: 4.484946 s, approachRate: 0.254184 m/s, LOS rate: 22.657629 deg/s, posRepo size: 4 2021-08-13T13:31:38.769Z,1628861498.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:39.133Z,1628861499.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:39.133Z,1628861499.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:39.134Z,1628861499.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:39.134Z,1628861499.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:39.525Z,1628861499.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D0F,000,008C5,188,80,80,91,FF 2021-08-13T13:31:39.525Z,1628861499.525 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:39.525Z,1628861499.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:39.527Z,1628861499.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:39.957Z,1628861499.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:40.333Z,1628861500.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,008CF,189,80,80,B3,FF 2021-08-13T13:31:40.333Z,1628861500.333 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:40.337Z,1628861500.337 [Micromodem](INFO): Nmea in: $SNTTA,0.067238,0.194163,,,133141.05*5E 2021-08-13T13:31:40.811Z,1628861500.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 344.552909 deg, deltaT: 4.454246 s, approachRate: 0.134703 m/s, LOS rate: -0.110780 deg/s, posRepo size: 4 2021-08-13T13:31:43.181Z,1628861503.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:43.565Z,1628861503.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:43.565Z,1628861503.565 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:43.565Z,1628861503.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:43.566Z,1628861503.566 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:43.978Z,1628861503.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D10,000,008CF,189,80,80,B3,FF 2021-08-13T13:31:43.978Z,1628861503.978 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:43.978Z,1628861503.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:43.981Z,1628861503.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:44.377Z,1628861504.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:44.791Z,1628861504.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,008DA,189,80,80,A8,FF 2021-08-13T13:31:44.791Z,1628861504.791 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:45.217Z,1628861505.217 [Micromodem](INFO): Nmea in: $SNTTA,0.072694,,,,133145.50*4A 2021-08-13T13:31:45.240Z,1628861505.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.460007 m, bearing: 345.793654 deg, deltaT: 4.451752 s, approachRate: 0.148257 m/s, LOS rate: 0.278709 deg/s, posRepo size: 4 2021-08-13T13:31:47.622Z,1628861507.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:48.023Z,1628861508.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:48.025Z,1628861508.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:48.026Z,1628861508.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:48.028Z,1628861508.028 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:48.409Z,1628861508.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CFE,000,008DA,189,80,80,A8,FF 2021-08-13T13:31:48.409Z,1628861508.409 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:48.410Z,1628861508.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:48.411Z,1628861508.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:48.821Z,1628861508.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:49.225Z,1628861509.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008EE,189,80,80,87,FF 2021-08-13T13:31:49.225Z,1628861509.225 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:49.666Z,1628861509.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133149.94*5E 2021-08-13T13:31:49.734Z,1628861509.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.660004 m, bearing: 243.364640 deg, deltaT: 4.387997 s, approachRate: 0.273473 m/s, LOS rate: -23.343000 deg/s, posRepo size: 4 2021-08-13T13:31:52.186Z,1628861512.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:52.453Z,1628861512.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:52.453Z,1628861512.453 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:52.453Z,1628861512.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:52.454Z,1628861512.454 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:52.857Z,1628861512.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,008EE,189,80,80,87,FF 2021-08-13T13:31:52.857Z,1628861512.857 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:52.857Z,1628861512.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:52.859Z,1628861512.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:53.273Z,1628861513.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:53.661Z,1628861513.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008F3,189,80,80,B2,FF 2021-08-13T13:31:53.662Z,1628861513.662 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:54.129Z,1628861514.129 [Micromodem](INFO): Nmea in: $SNTTA,0.070927,,,,133154.38*41 2021-08-13T13:31:54.206Z,1628861514.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.960007 m, bearing: 243.591566 deg, deltaT: 4.509199 s, approachRate: 0.066531 m/s, LOS rate: 0.050325 deg/s, posRepo size: 4 2021-08-13T13:31:56.538Z,1628861516.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:31:56.905Z,1628861516.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:31:56.905Z,1628861516.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:31:56.905Z,1628861516.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:31:56.906Z,1628861516.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:31:57.305Z,1628861517.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,008F3,189,80,80,B2,FF 2021-08-13T13:31:57.305Z,1628861517.305 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:31:57.305Z,1628861517.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:31:57.307Z,1628861517.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:31:57.739Z,1628861517.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:31:58.117Z,1628861518.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00902,189,80,80,55,FF 2021-08-13T13:31:58.117Z,1628861518.117 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:31:58.121Z,1628861518.121 [Micromodem](INFO): Nmea in: $SNTTA,0.264656,0.264662,,,133158.83*5F 2021-08-13T13:31:58.560Z,1628861518.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.860001 m, bearing: 243.648284 deg, deltaT: 4.450855 s, approachRate: 0.202207 m/s, LOS rate: 0.012743 deg/s, posRepo size: 4 2021-08-13T13:32:00.983Z,1628861520.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:01.345Z,1628861521.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:01.345Z,1628861521.345 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:01.345Z,1628861521.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:01.346Z,1628861521.346 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:01.773Z,1628861521.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00902,189,80,80,55,FF 2021-08-13T13:32:01.773Z,1628861521.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:01.773Z,1628861521.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:01.775Z,1628861521.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:02.153Z,1628861522.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:02.563Z,1628861522.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,00912,189,80,80,C7,FF 2021-08-13T13:32:02.563Z,1628861522.563 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:02.979Z,1628861522.979 [Micromodem](INFO): Nmea in: $SNTTA,0.076283,,,,133203.30*4B 2021-08-13T13:32:03.029Z,1628861523.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.820007 m, bearing: 345.657678 deg, deltaT: 4.378319 s, approachRate: 0.219264 m/s, LOS rate: 23.298757 deg/s, posRepo size: 4 2021-08-13T13:32:05.398Z,1628861525.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:05.793Z,1628861525.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:05.793Z,1628861525.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:05.794Z,1628861525.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:05.795Z,1628861525.795 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:06.193Z,1628861526.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D0B,000,00912,189,80,80,C7,FF 2021-08-13T13:32:06.193Z,1628861526.193 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:06.193Z,1628861526.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:06.195Z,1628861526.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:06.596Z,1628861526.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:07.005Z,1628861527.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0091B,18A,80,80,BB,FF 2021-08-13T13:32:07.006Z,1628861527.006 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:07.437Z,1628861527.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133207.72*5F 2021-08-13T13:32:07.460Z,1628861527.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 243.927775 deg, deltaT: 4.476885 s, approachRate: 0.120618 m/s, LOS rate: -22.723368 deg/s, posRepo size: 4 2021-08-13T13:32:09.881Z,1628861529.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:10.243Z,1628861530.243 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:10.243Z,1628861530.243 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:10.243Z,1628861530.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:10.244Z,1628861530.244 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:10.637Z,1628861530.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0091B,18A,80,80,BB,FF 2021-08-13T13:32:10.637Z,1628861530.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:10.637Z,1628861530.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:10.639Z,1628861530.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:11.045Z,1628861531.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:11.446Z,1628861531.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,0092C,189,80,80,CF,FF 2021-08-13T13:32:11.446Z,1628861531.446 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:11.878Z,1628861531.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133212.16*59 2021-08-13T13:32:11.930Z,1628861531.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.380005 m, bearing: 346.900390 deg, deltaT: 4.410563 s, approachRate: 0.231264 m/s, LOS rate: 23.346819 deg/s, posRepo size: 4 2021-08-13T13:32:14.341Z,1628861534.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:14.674Z,1628861534.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:14.675Z,1628861534.675 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:14.675Z,1628861534.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:14.677Z,1628861534.677 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:15.085Z,1628861535.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CF8,000,0092C,189,80,80,CF,FF 2021-08-13T13:32:15.085Z,1628861535.085 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:15.085Z,1628861535.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:15.087Z,1628861535.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:15.485Z,1628861535.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:15.894Z,1628861535.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,0093D,189,80,80,CC,FF 2021-08-13T13:32:15.894Z,1628861535.894 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:16.329Z,1628861536.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133216.61*5D 2021-08-13T13:32:16.385Z,1628861536.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 345.953781 deg, deltaT: 4.456680 s, approachRate: 0.228869 m/s, LOS rate: -0.212402 deg/s, posRepo size: 4 2021-08-13T13:32:18.785Z,1628861538.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:19.113Z,1628861539.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:19.113Z,1628861539.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:19.113Z,1628861539.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:19.114Z,1628861539.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:19.521Z,1628861539.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D08,000,0093D,189,80,80,CC,FF 2021-08-13T13:32:19.521Z,1628861539.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:19.521Z,1628861539.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:19.523Z,1628861539.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:19.944Z,1628861539.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:20.337Z,1628861540.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00947,189,80,80,C3,FF 2021-08-13T13:32:20.337Z,1628861540.337 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:20.785Z,1628861540.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133221.05*5B 2021-08-13T13:32:20.828Z,1628861540.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 344.759344 deg, deltaT: 4.450463 s, approachRate: 0.134817 m/s, LOS rate: -0.268385 deg/s, posRepo size: 4 2021-08-13T13:32:23.174Z,1628861543.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:23.569Z,1628861543.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:23.569Z,1628861543.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:23.570Z,1628861543.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:23.571Z,1628861543.571 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:23.977Z,1628861543.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D1C,000,00947,189,80,80,C3,FF 2021-08-13T13:32:23.977Z,1628861543.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:23.977Z,1628861543.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:23.979Z,1628861543.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:24.389Z,1628861544.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:24.796Z,1628861544.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,00952,189,80,80,C7,FF 2021-08-13T13:32:24.797Z,1628861544.797 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:25.201Z,1628861545.201 [Micromodem](INFO): Nmea in: $SNTTA,0.089676,,,,133225.51*46 2021-08-13T13:32:25.231Z,1628861545.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.660004 m, bearing: 345.860999 deg, deltaT: 4.449426 s, approachRate: 0.148335 m/s, LOS rate: 0.247595 deg/s, posRepo size: 4 2021-08-13T13:32:27.627Z,1628861547.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:28.007Z,1628861548.007 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:28.008Z,1628861548.008 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:28.009Z,1628861548.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:28.010Z,1628861548.010 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:28.409Z,1628861548.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D00,000,00952,189,80,80,C7,FF 2021-08-13T13:32:28.409Z,1628861548.409 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:28.409Z,1628861548.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:28.411Z,1628861548.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:28.817Z,1628861548.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:29.221Z,1628861549.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,00964,189,80,80,C6,FF 2021-08-13T13:32:29.222Z,1628861549.222 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:29.645Z,1628861549.645 [Micromodem](INFO): Nmea in: $SNTTA,0.074733,,,,133229.93*46 2021-08-13T13:32:29.694Z,1628861549.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 344.997062 deg, deltaT: 4.414485 s, approachRate: 0.244650 m/s, LOS rate: -0.195705 deg/s, posRepo size: 4 2021-08-13T13:32:32.151Z,1628861552.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:32.449Z,1628861552.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:32.449Z,1628861552.449 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:32.449Z,1628861552.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:32.450Z,1628861552.450 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:32.866Z,1628861552.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D06,000,00964,189,80,80,C6,FF 2021-08-13T13:32:32.866Z,1628861552.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:32.866Z,1628861552.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:32.873Z,1628861552.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:33.265Z,1628861553.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:33.673Z,1628861553.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00972,189,80,80,8C,FF 2021-08-13T13:32:33.673Z,1628861553.673 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:34.129Z,1628861554.129 [Micromodem](INFO): Nmea in: $SNTTA,0.109427,,,,133234.40*49 2021-08-13T13:32:34.203Z,1628861554.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 242.230583 deg, deltaT: 4.496612 s, approachRate: 0.186808 m/s, LOS rate: -22.854202 deg/s, posRepo size: 4 2021-08-13T13:32:36.519Z,1628861556.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:36.905Z,1628861556.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:36.905Z,1628861556.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:36.905Z,1628861556.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:36.906Z,1628861556.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:37.305Z,1628861557.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00972,189,80,80,8C,FF 2021-08-13T13:32:37.305Z,1628861557.305 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:37.305Z,1628861557.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:37.307Z,1628861557.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:37.739Z,1628861557.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:38.125Z,1628861558.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00980,189,80,80,BA,FF 2021-08-13T13:32:38.126Z,1628861558.126 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:38.129Z,1628861558.129 [Micromodem](INFO): Nmea in: $SNTTA,0.264007,0.263701,,,133238.83*5B 2021-08-13T13:32:38.566Z,1628861558.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 241.294792 deg, deltaT: 4.467996 s, approachRate: 0.188003 m/s, LOS rate: -0.209443 deg/s, posRepo size: 4 2021-08-13T13:32:40.978Z,1628861560.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:41.337Z,1628861561.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:41.337Z,1628861561.337 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:41.337Z,1628861561.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:41.338Z,1628861561.338 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:41.773Z,1628861561.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00980,189,80,80,BA,FF 2021-08-13T13:32:41.773Z,1628861561.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:41.773Z,1628861561.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:41.775Z,1628861561.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:42.149Z,1628861562.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:42.557Z,1628861562.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0098D,189,80,80,B5,FF 2021-08-13T13:32:42.557Z,1628861562.557 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:42.979Z,1628861562.979 [Micromodem](INFO): Nmea in: $SNTTA,0.084487,,,,133243.30*40 2021-08-13T13:32:43.016Z,1628861563.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.200005 m, bearing: 239.954900 deg, deltaT: 4.398900 s, approachRate: 0.177317 m/s, LOS rate: -0.304597 deg/s, posRepo size: 4 2021-08-13T13:32:45.419Z,1628861565.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:45.794Z,1628861565.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:45.794Z,1628861565.794 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:45.795Z,1628861565.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:45.795Z,1628861565.795 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:46.185Z,1628861566.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0098D,189,80,80,B5,FF 2021-08-13T13:32:46.185Z,1628861566.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:46.185Z,1628861566.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:46.187Z,1628861566.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:46.590Z,1628861566.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:47.001Z,1628861567.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0099D,18A,80,80,C2,FF 2021-08-13T13:32:47.002Z,1628861567.002 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:47.457Z,1628861567.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133247.71*58 2021-08-13T13:32:47.499Z,1628861567.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 239.019000 deg, deltaT: 4.446389 s, approachRate: 0.215905 m/s, LOS rate: -0.210485 deg/s, posRepo size: 4 2021-08-13T13:32:49.880Z,1628861569.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:50.225Z,1628861570.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:50.225Z,1628861570.225 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:50.225Z,1628861570.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:50.226Z,1628861570.226 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:50.630Z,1628861570.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0099D,18A,80,80,C2,FF 2021-08-13T13:32:50.630Z,1628861570.630 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:50.630Z,1628861570.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:50.634Z,1628861570.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:51.037Z,1628861571.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:51.447Z,1628861571.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009AD,189,80,80,CA,FF 2021-08-13T13:32:51.447Z,1628861571.447 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:51.884Z,1628861571.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133252.16*5D 2021-08-13T13:32:51.916Z,1628861571.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.119995 m, bearing: 238.864228 deg, deltaT: 4.465422 s, approachRate: 0.214983 m/s, LOS rate: -0.034660 deg/s, posRepo size: 4 2021-08-13T13:32:54.353Z,1628861574.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:54.673Z,1628861574.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:54.673Z,1628861574.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:54.673Z,1628861574.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:54.674Z,1628861574.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:55.073Z,1628861575.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,009AD,189,80,80,CA,FF 2021-08-13T13:32:55.073Z,1628861575.073 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:55.073Z,1628861575.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:55.075Z,1628861575.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:55.485Z,1628861575.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:32:55.886Z,1628861575.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009BB,189,80,80,BA,FF 2021-08-13T13:32:55.886Z,1628861575.886 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:32:56.363Z,1628861576.363 [Micromodem](INFO): Nmea in: $SNTTA,,0.380090,,,133256.60*44 2021-08-13T13:32:56.425Z,1628861576.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.959999 m, bearing: 238.997062 deg, deltaT: 4.432459 s, approachRate: 0.189512 m/s, LOS rate: 0.029968 deg/s, posRepo size: 4 2021-08-13T13:32:58.765Z,1628861578.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:32:59.117Z,1628861579.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:32:59.117Z,1628861579.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:32:59.117Z,1628861579.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:32:59.118Z,1628861579.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:32:59.513Z,1628861579.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,009BB,189,80,80,BA,FF 2021-08-13T13:32:59.513Z,1628861579.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:32:59.514Z,1628861579.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:32:59.515Z,1628861579.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:32:59.928Z,1628861579.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:00.766Z,1628861580.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133301.04*59 2021-08-13T13:33:01.563Z,1628861581.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:03.161Z,1628861583.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 B,189,80,80,BA,FF 2021-08-13T13:33:03.161Z,1628861583.161 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 B,189,80,80,BA,FF 2021-08-13T13:33:03.161Z,1628861583.161 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:33:04.465Z,1628861584.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:04.781Z,1628861584.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:04.781Z,1628861584.781 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:04.781Z,1628861584.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:04.782Z,1628861584.782 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:05.181Z,1628861585.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 B,189,80,80,BA,FF 2021-08-13T13:33:05.181Z,1628861585.181 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:05.181Z,1628861585.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:05.183Z,1628861585.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:05.588Z,1628861585.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:05.989Z,1628861585.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009DE,18A,80,80,C3,FF 2021-08-13T13:33:05.989Z,1628861585.989 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:06.410Z,1628861586.410 [Micromodem](INFO): Nmea in: $SNTTA,0.364616,0.364966,,,133306.71*54 2021-08-13T13:33:06.474Z,1628861586.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.059998 m, bearing: 239.357504 deg, deltaT: 10.146204 s, approachRate: 0.206974 m/s, LOS rate: 0.035525 deg/s, posRepo size: 4 2021-08-13T13:33:08.844Z,1628861588.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:09.225Z,1628861589.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:09.225Z,1628861589.225 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:09.225Z,1628861589.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:09.226Z,1628861589.226 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:09.625Z,1628861589.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,009DE,18A,80,80,C3,FF 2021-08-13T13:33:09.625Z,1628861589.625 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:09.625Z,1628861589.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:09.627Z,1628861589.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:10.051Z,1628861590.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:10.437Z,1628861590.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009EC,18A,80,80,BD,FF 2021-08-13T13:33:10.437Z,1628861590.437 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:10.441Z,1628861590.441 [Micromodem](INFO): Nmea in: $SNTTA,0.095377,0.142384,,,133311.15*5F 2021-08-13T13:33:10.867Z,1628861590.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.900002 m, bearing: 239.958916 deg, deltaT: 4.392270 s, approachRate: 0.191246 m/s, LOS rate: 0.136925 deg/s, posRepo size: 4 2021-08-13T13:33:13.290Z,1628861593.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:13.657Z,1628861593.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:13.657Z,1628861593.657 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:13.657Z,1628861593.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:13.658Z,1628861593.658 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:14.097Z,1628861594.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,009EC,18A,80,80,BD,FF 2021-08-13T13:33:14.097Z,1628861594.097 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:14.097Z,1628861594.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:14.099Z,1628861594.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:14.468Z,1628861594.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:14.878Z,1628861594.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009FA,189,80,80,B9,FF 2021-08-13T13:33:14.878Z,1628861594.878 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:15.303Z,1628861595.303 [Micromodem](INFO): Nmea in: $SNTTA,0.099789,,,,133315.62*44 2021-08-13T13:33:15.323Z,1628861595.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.739998 m, bearing: 240.103853 deg, deltaT: 4.451154 s, approachRate: 0.188714 m/s, LOS rate: 0.032562 deg/s, posRepo size: 4 2021-08-13T13:33:17.756Z,1628861597.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:18.117Z,1628861598.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:18.117Z,1628861598.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:18.117Z,1628861598.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:18.118Z,1628861598.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:18.521Z,1628861598.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,009FA,189,80,80,B9,FF 2021-08-13T13:33:18.521Z,1628861598.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:18.521Z,1628861598.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:18.523Z,1628861598.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:18.921Z,1628861598.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:19.321Z,1628861599.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A08,18A,80,80,C2,FF 2021-08-13T13:33:19.322Z,1628861599.322 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:19.757Z,1628861599.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133320.05*5B 2021-08-13T13:33:19.795Z,1628861599.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 240.132840 deg, deltaT: 4.450755 s, approachRate: 0.188733 m/s, LOS rate: 0.006513 deg/s, posRepo size: 4 2021-08-13T13:33:22.182Z,1628861602.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:22.557Z,1628861602.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:22.557Z,1628861602.557 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:22.557Z,1628861602.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:22.558Z,1628861602.558 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:22.953Z,1628861602.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A08,18A,80,80,C2,FF 2021-08-13T13:33:22.954Z,1628861602.954 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:22.954Z,1628861602.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:22.955Z,1628861602.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:23.357Z,1628861603.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:23.774Z,1628861603.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A14,18A,80,80,C2,FF 2021-08-13T13:33:23.774Z,1628861603.774 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:24.175Z,1628861604.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133324.53*5C 2021-08-13T13:33:24.239Z,1628861604.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 240.319386 deg, deltaT: 4.440582 s, approachRate: 0.162143 m/s, LOS rate: 0.042009 deg/s, posRepo size: 4 2021-08-13T13:33:26.618Z,1628861606.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:26.997Z,1628861606.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:26.997Z,1628861606.997 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:26.997Z,1628861606.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:26.998Z,1628861606.998 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:27.397Z,1628861607.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A14,18A,80,80,C2,FF 2021-08-13T13:33:27.397Z,1628861607.397 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:27.398Z,1628861607.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:27.399Z,1628861607.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:27.809Z,1628861607.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:28.205Z,1628861608.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A21,189,80,80,B5,FF 2021-08-13T13:33:28.206Z,1628861608.206 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:28.209Z,1628861608.209 [Micromodem](INFO): Nmea in: $SNTTA,0.216803,0.216809,,,133328.92*57 2021-08-13T13:33:28.651Z,1628861608.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.080002 m, bearing: 240.407195 deg, deltaT: 4.464021 s, approachRate: 0.174728 m/s, LOS rate: 0.019670 deg/s, posRepo size: 4 2021-08-13T13:33:31.065Z,1628861611.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:31.433Z,1628861611.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:31.433Z,1628861611.433 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:31.433Z,1628861611.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:31.434Z,1628861611.434 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:31.837Z,1628861611.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A21,189,80,80,B5,FF 2021-08-13T13:33:31.837Z,1628861611.837 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:31.837Z,1628861611.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:31.839Z,1628861611.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:32.249Z,1628861612.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:32.649Z,1628861612.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A32,189,80,80,AB,FF 2021-08-13T13:33:32.649Z,1628861612.649 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:33.089Z,1628861613.089 [Micromodem](INFO): Nmea in: $SNTTA,0.094262,,,,133333.36*4C 2021-08-13T13:33:33.115Z,1628861613.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.100006 m, bearing: 240.432385 deg, deltaT: 4.443476 s, approachRate: 0.229551 m/s, LOS rate: 0.005669 deg/s, posRepo size: 4 2021-08-13T13:33:35.505Z,1628861615.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:35.878Z,1628861615.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:35.878Z,1628861615.878 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:35.878Z,1628861615.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:35.879Z,1628861615.879 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:36.293Z,1628861616.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A32,189,80,80,AB,FF 2021-08-13T13:33:36.293Z,1628861616.293 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:36.293Z,1628861616.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:36.295Z,1628861616.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:36.732Z,1628861616.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:37.097Z,1628861617.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A43,18A,80,80,AD,FF 2021-08-13T13:33:37.097Z,1628861617.097 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:37.530Z,1628861617.530 [Micromodem](INFO): Nmea in: $SNTTA,0.082190,,,,133337.82*4E 2021-08-13T13:33:37.551Z,1628861617.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.120003 m, bearing: 240.792582 deg, deltaT: 4.411855 s, approachRate: 0.231195 m/s, LOS rate: 0.081643 deg/s, posRepo size: 4 2021-08-13T13:33:39.953Z,1628861619.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:40.333Z,1628861620.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:40.333Z,1628861620.333 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:40.333Z,1628861620.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:40.334Z,1628861620.334 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:40.737Z,1628861620.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A43,18A,80,80,AD,FF 2021-08-13T13:33:40.737Z,1628861620.737 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:40.737Z,1628861620.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:40.739Z,1628861620.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:41.150Z,1628861621.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:41.537Z,1628861621.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A50,189,80,80,A1,FF 2021-08-13T13:33:41.538Z,1628861621.537 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:41.969Z,1628861621.969 [Micromodem](INFO): Nmea in: $SNTTA,,0.103675,,,133342.26*46 2021-08-13T13:33:42.071Z,1628861622.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 240.495960 deg, deltaT: 4.470399 s, approachRate: 0.174481 m/s, LOS rate: -0.066352 deg/s, posRepo size: 4 2021-08-13T13:33:44.455Z,1628861624.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:44.777Z,1628861624.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:44.777Z,1628861624.777 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:44.777Z,1628861624.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:44.778Z,1628861624.778 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:45.182Z,1628861625.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A50,189,80,80,A1,FF 2021-08-13T13:33:45.182Z,1628861625.182 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:45.182Z,1628861625.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:45.185Z,1628861625.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:45.578Z,1628861625.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:45.990Z,1628861625.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A60,189,80,80,9E,FF 2021-08-13T13:33:45.991Z,1628861625.991 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:46.422Z,1628861626.422 [Micromodem](INFO): Nmea in: $SNTTA,0.083364,,,,133346.71*4C 2021-08-13T13:33:46.457Z,1628861626.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.860001 m, bearing: 240.488966 deg, deltaT: 4.484137 s, approachRate: 0.214088 m/s, LOS rate: -0.001560 deg/s, posRepo size: 4 2021-08-13T13:33:48.848Z,1628861628.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:49.213Z,1628861629.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:49.214Z,1628861629.214 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:49.214Z,1628861629.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:49.215Z,1628861629.215 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:49.621Z,1628861629.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A60,189,80,80,9E,FF 2021-08-13T13:33:49.621Z,1628861629.621 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:49.621Z,1628861629.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:49.623Z,1628861629.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:50.058Z,1628861630.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:50.425Z,1628861630.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A6F,189,80,80,99,FF 2021-08-13T13:33:50.425Z,1628861630.425 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:50.863Z,1628861630.863 [Micromodem](INFO): Nmea in: $SNTTA,0.092789,,,,133351.15*4F 2021-08-13T13:33:50.918Z,1628861630.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.760002 m, bearing: 240.785096 deg, deltaT: 4.377140 s, approachRate: 0.205614 m/s, LOS rate: 0.067654 deg/s, posRepo size: 4 2021-08-13T13:33:53.284Z,1628861633.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:53.653Z,1628861633.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:53.653Z,1628861633.653 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:53.653Z,1628861633.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:53.654Z,1628861633.654 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:54.102Z,1628861634.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A6F,189,80,80,99,FF 2021-08-13T13:33:54.102Z,1628861634.102 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:54.102Z,1628861634.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:54.105Z,1628861634.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:54.469Z,1628861634.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:54.866Z,1628861634.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A7C,189,80,80,99,FF 2021-08-13T13:33:54.866Z,1628861634.866 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:55.282Z,1628861635.282 [Micromodem](INFO): Nmea in: $SNTTA,0.088590,,,,133355.63*4B 2021-08-13T13:33:55.336Z,1628861635.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.540001 m, bearing: 241.090269 deg, deltaT: 4.487463 s, approachRate: 0.173817 m/s, LOS rate: 0.068006 deg/s, posRepo size: 4 2021-08-13T13:33:57.755Z,1628861637.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:33:58.113Z,1628861638.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:33:58.113Z,1628861638.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:33:58.113Z,1628861638.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:33:58.114Z,1628861638.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:33:58.501Z,1628861638.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A7C,189,80,80,99,FF 2021-08-13T13:33:58.501Z,1628861638.501 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:33:58.501Z,1628861638.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:33:58.503Z,1628861638.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:33:58.922Z,1628861638.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:33:59.313Z,1628861639.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A8B,18A,80,80,AB,FF 2021-08-13T13:33:59.314Z,1628861639.314 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:33:59.757Z,1628861639.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133400.03*58 2021-08-13T13:33:59.791Z,1628861639.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.440002 m, bearing: 241.589009 deg, deltaT: 4.416455 s, approachRate: 0.203784 m/s, LOS rate: 0.112928 deg/s, posRepo size: 4 2021-08-13T13:34:02.184Z,1628861642.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:02.541Z,1628861642.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:02.541Z,1628861642.541 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:02.541Z,1628861642.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:02.542Z,1628861642.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:02.945Z,1628861642.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A8B,18A,80,80,AB,FF 2021-08-13T13:34:02.945Z,1628861642.945 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:02.945Z,1628861642.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:02.947Z,1628861642.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:03.353Z,1628861643.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:03.781Z,1628861643.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00A9A,189,80,80,AC,FF 2021-08-13T13:34:03.782Z,1628861643.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:04.173Z,1628861644.173 [Micromodem](INFO): Nmea in: $SNTTA,0.176560,0.348235,,,133404.47*54 2021-08-13T13:34:04.229Z,1628861644.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.340004 m, bearing: 241.949015 deg, deltaT: 4.493955 s, approachRate: 0.200269 m/s, LOS rate: 0.080109 deg/s, posRepo size: 4 2021-08-13T13:34:06.598Z,1628861646.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:06.985Z,1628861646.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:06.985Z,1628861646.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:06.985Z,1628861646.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:06.986Z,1628861646.986 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:07.385Z,1628861647.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00A9A,189,80,80,AC,FF 2021-08-13T13:34:07.385Z,1628861647.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:07.386Z,1628861647.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:07.387Z,1628861647.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:07.797Z,1628861647.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:08.213Z,1628861648.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,00AA9,189,80,80,AE,FF 2021-08-13T13:34:08.213Z,1628861648.213 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:08.633Z,1628861648.633 [Micromodem](INFO): Nmea in: $SNTTA,0.087373,,,,133408.91*4D 2021-08-13T13:34:08.668Z,1628861648.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.239998 m, bearing: 342.951421 deg, deltaT: 4.393055 s, approachRate: 0.204867 m/s, LOS rate: 22.991382 deg/s, posRepo size: 4 2021-08-13T13:34:11.069Z,1628861651.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:11.433Z,1628861651.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:11.433Z,1628861651.433 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:11.433Z,1628861651.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:11.434Z,1628861651.434 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:11.837Z,1628861651.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D24,000,00AA9,189,80,80,AE,FF 2021-08-13T13:34:11.838Z,1628861651.838 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:11.838Z,1628861651.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:11.839Z,1628861651.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:12.241Z,1628861652.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:12.645Z,1628861652.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00AB8,18A,80,80,A1,FF 2021-08-13T13:34:12.646Z,1628861652.646 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:13.073Z,1628861653.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133413.36*5C 2021-08-13T13:34:13.119Z,1628861653.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.140007 m, bearing: 242.509992 deg, deltaT: 4.393702 s, approachRate: 0.204841 m/s, LOS rate: -22.860319 deg/s, posRepo size: 4 2021-08-13T13:34:15.486Z,1628861655.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:15.881Z,1628861655.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:15.882Z,1628861655.882 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:15.882Z,1628861655.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:15.883Z,1628861655.883 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:16.285Z,1628861656.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00AB8,18A,80,80,A1,FF 2021-08-13T13:34:16.285Z,1628861656.285 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:16.285Z,1628861656.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:16.287Z,1628861656.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:16.693Z,1628861656.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:17.097Z,1628861657.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,00947,189,80,80,B4,FF 2021-08-13T13:34:17.097Z,1628861657.098 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:17.528Z,1628861657.528 [Micromodem](INFO): Nmea in: $SNTTA,0.072053,,,,133417.81*49 2021-08-13T13:34:17.556Z,1628861657.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 344.078375 deg, deltaT: 4.487294 s, approachRate: -4.933933 m/s, LOS rate: 22.634661 deg/s, posRepo size: 4 2021-08-13T13:34:19.954Z,1628861659.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:20.317Z,1628861660.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:20.317Z,1628861660.317 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:20.317Z,1628861660.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:20.318Z,1628861660.318 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:20.730Z,1628861660.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D24,000,00947,189,80,80,B4,FF 2021-08-13T13:34:20.730Z,1628861660.730 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:20.731Z,1628861660.731 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:20.734Z,1628861660.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:21.136Z,1628861661.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:21.537Z,1628861661.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00AD5,18A,80,80,C1,FF 2021-08-13T13:34:21.538Z,1628861661.538 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:21.969Z,1628861661.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133422.26*5F 2021-08-13T13:34:22.070Z,1628861662.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.880005 m, bearing: 243.842671 deg, deltaT: 4.457691 s, approachRate: 5.357035 m/s, LOS rate: -22.486014 deg/s, posRepo size: 4 2021-08-13T13:34:24.458Z,1628861664.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:24.770Z,1628861664.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:24.770Z,1628861664.770 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:24.771Z,1628861664.771 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:24.772Z,1628861664.772 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:25.173Z,1628861665.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00AD5,18A,80,80,C1,FF 2021-08-13T13:34:25.173Z,1628861665.173 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:25.174Z,1628861665.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:25.175Z,1628861665.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:25.573Z,1628861665.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:25.977Z,1628861665.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00AE1,189,80,80,AF,FF 2021-08-13T13:34:25.978Z,1628861665.978 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:26.409Z,1628861666.409 [Micromodem](INFO): Nmea in: $SNTTA,0.089662,,,,133426.70*45 2021-08-13T13:34:26.464Z,1628861666.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 244.171394 deg, deltaT: 4.481165 s, approachRate: 0.160673 m/s, LOS rate: 0.073357 deg/s, posRepo size: 4 2021-08-13T13:34:28.833Z,1628861668.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:29.213Z,1628861669.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:29.213Z,1628861669.213 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:29.213Z,1628861669.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:29.214Z,1628861669.214 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:29.613Z,1628861669.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00AE1,189,80,80,AF,FF 2021-08-13T13:34:29.614Z,1628861669.614 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:29.614Z,1628861669.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:29.615Z,1628861669.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:30.032Z,1628861670.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:30.425Z,1628861670.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00AEE,189,80,80,AB,FF 2021-08-13T13:34:30.426Z,1628861670.426 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:30.861Z,1628861670.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133431.14*5C 2021-08-13T13:34:30.916Z,1628861670.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.380005 m, bearing: 245.046178 deg, deltaT: 4.353275 s, approachRate: 0.179175 m/s, LOS rate: 0.200948 deg/s, posRepo size: 4 2021-08-13T13:34:33.292Z,1628861673.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:33.642Z,1628861673.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:33.642Z,1628861673.642 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:33.643Z,1628861673.643 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:33.644Z,1628861673.644 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:34.093Z,1628861674.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00AEE,189,80,80,AB,FF 2021-08-13T13:34:34.093Z,1628861674.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:34.093Z,1628861674.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:34.095Z,1628861674.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:34.472Z,1628861674.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:34.874Z,1628861674.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B00,189,80,80,AB,FF 2021-08-13T13:34:34.875Z,1628861674.875 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:35.287Z,1628861675.287 [Micromodem](INFO): Nmea in: $SNTTA,0.099529,,,,133435.62*49 2021-08-13T13:34:35.327Z,1628861675.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.460007 m, bearing: 245.787472 deg, deltaT: 4.488444 s, approachRate: 0.240618 m/s, LOS rate: 0.165156 deg/s, posRepo size: 4 2021-08-13T13:34:37.747Z,1628861677.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:38.117Z,1628861678.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:38.117Z,1628861678.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:38.117Z,1628861678.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:38.118Z,1628861678.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:38.501Z,1628861678.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B00,189,80,80,AB,FF 2021-08-13T13:34:38.502Z,1628861678.502 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:38.502Z,1628861678.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:38.503Z,1628861678.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:38.930Z,1628861678.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:39.313Z,1628861679.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C4,189,80,80,BF,FF 2021-08-13T13:34:39.314Z,1628861679.314 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:39.749Z,1628861679.749 [Micromodem](INFO): Nmea in: $SNTTA,0.046689,,,,133440.03*47 2021-08-13T13:34:39.783Z,1628861679.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 246.249329 deg, deltaT: 4.399573 s, approachRate: -14.783255 m/s, LOS rate: 0.104978 deg/s, posRepo size: 4 2021-08-13T13:34:42.186Z,1628861682.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:42.533Z,1628861682.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:42.533Z,1628861682.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:42.533Z,1628861682.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:42.534Z,1628861682.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:42.954Z,1628861682.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,006C4,189,80,80,BF,FF 2021-08-13T13:34:42.954Z,1628861682.954 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:42.955Z,1628861682.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:42.957Z,1628861682.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:43.348Z,1628861683.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:43.778Z,1628861683.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B19,189,80,80,9A,FF 2021-08-13T13:34:43.779Z,1628861683.779 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:44.185Z,1628861684.185 [Micromodem](INFO): Nmea in: $SNTTA,0.118360,,,,133444.48*44 2021-08-13T13:34:44.231Z,1628861684.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.960007 m, bearing: 246.286103 deg, deltaT: 4.525080 s, approachRate: 14.704714 m/s, LOS rate: 0.008127 deg/s, posRepo size: 4 2021-08-13T13:34:46.618Z,1628861686.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:46.981Z,1628861686.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:46.981Z,1628861686.981 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:46.981Z,1628861686.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:46.982Z,1628861686.982 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:47.385Z,1628861687.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B19,189,80,80,9A,FF 2021-08-13T13:34:47.385Z,1628861687.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:47.385Z,1628861687.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:47.387Z,1628861687.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:47.804Z,1628861687.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:48.197Z,1628861688.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B25,189,80,80,A0,FF 2021-08-13T13:34:48.198Z,1628861688.198 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:48.626Z,1628861688.626 [Micromodem](INFO): Nmea in: $SNTTA,0.088746,,,,133448.91*44 2021-08-13T13:34:48.668Z,1628861688.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.680008 m, bearing: 246.385168 deg, deltaT: 4.397764 s, approachRate: 0.163720 m/s, LOS rate: 0.022526 deg/s, posRepo size: 4 2021-08-13T13:34:51.071Z,1628861691.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:51.425Z,1628861691.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:51.425Z,1628861691.425 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:51.425Z,1628861691.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:51.426Z,1628861691.426 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:51.829Z,1628861691.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B25,189,80,80,A0,FF 2021-08-13T13:34:51.829Z,1628861691.829 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:51.829Z,1628861691.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:51.831Z,1628861691.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:52.237Z,1628861692.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:52.645Z,1628861692.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B35,189,80,80,A7,FF 2021-08-13T13:34:52.646Z,1628861692.646 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:53.073Z,1628861693.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133453.36*58 2021-08-13T13:34:53.116Z,1628861693.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.639999 m, bearing: 247.059526 deg, deltaT: 4.409172 s, approachRate: 0.217726 m/s, LOS rate: 0.152944 deg/s, posRepo size: 4 2021-08-13T13:34:55.498Z,1628861695.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:34:55.873Z,1628861695.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:34:55.874Z,1628861695.874 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:34:55.874Z,1628861695.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:34:55.875Z,1628861695.875 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:34:56.281Z,1628861696.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B35,189,80,80,A7,FF 2021-08-13T13:34:56.282Z,1628861696.282 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:34:56.282Z,1628861696.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:34:56.287Z,1628861696.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:34:56.688Z,1628861696.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:34:57.088Z,1628861697.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B44,189,80,80,A5,FF 2021-08-13T13:34:57.088Z,1628861697.088 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:34:57.513Z,1628861697.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133457.81*50 2021-08-13T13:34:57.560Z,1628861697.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 247.418111 deg, deltaT: 4.453097 s, approachRate: 0.202109 m/s, LOS rate: 0.080525 deg/s, posRepo size: 4 2021-08-13T13:34:59.968Z,1628861699.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:00.317Z,1628861700.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:00.317Z,1628861700.317 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:00.317Z,1628861700.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:00.318Z,1628861700.318 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:00.740Z,1628861700.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B44,189,80,80,A5,FF 2021-08-13T13:35:00.740Z,1628861700.740 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:00.740Z,1628861700.740 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:00.742Z,1628861700.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:01.132Z,1628861701.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:01.530Z,1628861701.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00B52,18A,80,80,A5,FF 2021-08-13T13:35:01.530Z,1628861701.530 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:01.969Z,1628861701.969 [Micromodem](INFO): Nmea in: $SNTTA,0.090487,,,,133502.27*41 2021-08-13T13:35:02.055Z,1628861702.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 348.431500 deg, deltaT: 4.440298 s, approachRate: 0.189176 m/s, LOS rate: 22.749236 deg/s, posRepo size: 4 2021-08-13T13:35:04.441Z,1628861704.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:04.789Z,1628861704.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:04.789Z,1628861704.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:04.789Z,1628861704.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:04.790Z,1628861704.790 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:05.161Z,1628861705.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D29,000,00B52,18A,80,80,A5,FF 2021-08-13T13:35:05.161Z,1628861705.161 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:05.161Z,1628861705.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:05.163Z,1628861705.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:05.569Z,1628861705.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:05.989Z,1628861705.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B5F,189,80,80,86,FF 2021-08-13T13:35:05.990Z,1628861705.990 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:06.385Z,1628861706.385 [Micromodem](INFO): Nmea in: $SNTTA,0.334582,0.334457,,,133506.69*5A 2021-08-13T13:35:06.437Z,1628861706.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.160004 m, bearing: 248.464141 deg, deltaT: 4.538598 s, approachRate: 0.171859 m/s, LOS rate: -22.026044 deg/s, posRepo size: 4 2021-08-13T13:35:08.825Z,1628861708.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:09.211Z,1628861709.211 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:09.211Z,1628861709.211 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:09.211Z,1628861709.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:09.212Z,1628861709.212 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:09.605Z,1628861709.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B5F,189,80,80,86,FF 2021-08-13T13:35:09.605Z,1628861709.605 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:09.606Z,1628861709.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:09.607Z,1628861709.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:10.043Z,1628861710.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:10.834Z,1628861710.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133511.13*58 2021-08-13T13:35:11.662Z,1628861711.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:13.241Z,1628861713.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 F,189,80,80,86,FF 2021-08-13T13:35:13.241Z,1628861713.241 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 F,189,80,80,86,FF 2021-08-13T13:35:13.241Z,1628861713.241 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:35:14.493Z,1628861714.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:14.861Z,1628861714.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:14.861Z,1628861714.861 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:14.861Z,1628861714.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:14.862Z,1628861714.862 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:15.261Z,1628861715.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 F,189,80,80,86,FF 2021-08-13T13:35:15.261Z,1628861715.261 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:15.261Z,1628861715.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:15.263Z,1628861715.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:15.681Z,1628861715.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:16.490Z,1628861716.490 [Micromodem](INFO): Nmea in: $SNTTA,0.102715,,,,133516.79*4D 2021-08-13T13:35:17.286Z,1628861717.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,041F5,188,80,80,42,FF 2021-08-13T13:35:17.286Z,1628861717.286 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:17.743Z,1628861717.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 975.600037 m, bearing: 351.559344 deg, deltaT: 11.213176 s, approachRate: 74.772758 m/s, LOS rate: 9.194113 deg/s, posRepo size: 4 2021-08-13T13:35:17.743Z,1628861717.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 975.60 m. Resuming terminal guidance. 2021-08-13T13:35:17.744Z,1628861717.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:35:18.190Z,1628861718.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:35:20.186Z,1628861720.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:20.513Z,1628861720.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:20.513Z,1628861720.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:20.513Z,1628861720.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:20.514Z,1628861720.514 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:20.941Z,1628861720.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D10,000,041F5,188,80,80,42,FF 2021-08-13T13:35:20.941Z,1628861720.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:20.941Z,1628861720.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:20.943Z,1628861720.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:21.342Z,1628861721.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:22.130Z,1628861722.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133522.47*59 2021-08-13T13:35:22.977Z,1628861722.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:24.562Z,1628861724.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,188,80,80,42,FF 2021-08-13T13:35:24.562Z,1628861724.562 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,188,80,80,42,FF 2021-08-13T13:35:24.562Z,1628861724.562 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:35:25.833Z,1628861725.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:26.169Z,1628861726.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:26.169Z,1628861726.169 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:26.169Z,1628861726.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:26.170Z,1628861726.170 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:26.577Z,1628861726.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,188,80,80,42,FF 2021-08-13T13:35:26.577Z,1628861726.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:26.577Z,1628861726.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:26.579Z,1628861726.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:26.993Z,1628861726.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:27.382Z,1628861727.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B9F,189,80,80,A2,FF 2021-08-13T13:35:27.382Z,1628861727.382 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:27.825Z,1628861727.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133528.10*51 2021-08-13T13:35:27.856Z,1628861727.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.000000 m, bearing: 246.590647 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:35:27.857Z,1628861727.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 246.590647deg and heading rate command to 0 deg/s. 2021-08-13T13:35:30.266Z,1628861730.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:30.613Z,1628861730.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:30.613Z,1628861730.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:30.613Z,1628861730.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:30.614Z,1628861730.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:31.029Z,1628861731.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B9F,189,80,80,A2,FF 2021-08-13T13:35:31.029Z,1628861731.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:31.029Z,1628861731.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:31.031Z,1628861731.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:31.424Z,1628861731.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:31.845Z,1628861731.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B9E,189,80,80,9E,FF 2021-08-13T13:35:31.846Z,1628861731.846 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:32.269Z,1628861732.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133532.55*5B 2021-08-13T13:35:32.317Z,1628861732.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 234.310404 deg, deltaT: 4.492886 s, approachRate: -0.013354 m/s, LOS rate: -2.733264 deg/s, posRepo size: 2 2021-08-13T13:35:32.319Z,1628861732.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.940002 m, bearing: 234.310404 deg, approachRate: -0.013354 m/s, LOS rate: -2.733264 deg/s, cmd update: -8.199792 deg/s, cmd heading: 246.590647 deg, new cmd heading: 246.590647 deg. 2021-08-13T13:35:34.679Z,1628861734.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:35.077Z,1628861735.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:35.077Z,1628861735.077 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:35.077Z,1628861735.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:35.078Z,1628861735.078 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:35.461Z,1628861735.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00B9E,189,80,80,9E,FF 2021-08-13T13:35:35.461Z,1628861735.461 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:35.461Z,1628861735.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:35.463Z,1628861735.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:35.884Z,1628861735.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:36.281Z,1628861736.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,00B96,189,80,80,AF,FF 2021-08-13T13:35:36.282Z,1628861736.282 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:36.734Z,1628861736.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133536.99*5F 2021-08-13T13:35:36.770Z,1628861736.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.460007 m, bearing: 232.150289 deg, deltaT: 4.407016 s, approachRate: -0.108916 m/s, LOS rate: -0.490154 deg/s, posRepo size: 3 2021-08-13T13:35:36.772Z,1628861736.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.460007 m, bearing: 232.150289 deg, approachRate: -0.108916 m/s, LOS rate: -0.490154 deg/s, cmd update: -1.470461 deg/s, cmd heading: 210.421269 deg, new cmd heading: 206.724434 deg. 2021-08-13T13:35:39.158Z,1628861739.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:39.523Z,1628861739.523 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:39.523Z,1628861739.523 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:39.524Z,1628861739.524 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:39.525Z,1628861739.525 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:39.910Z,1628861739.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3D9,000,00B96,189,80,80,AF,FF 2021-08-13T13:35:39.910Z,1628861739.910 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:39.911Z,1628861739.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:39.914Z,1628861739.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:40.313Z,1628861740.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:40.729Z,1628861740.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,344,000,00B81,189,80,80,4B,FF 2021-08-13T13:35:40.730Z,1628861740.730 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:41.165Z,1628861741.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133541.44*5F 2021-08-13T13:35:41.181Z,1628861741.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.199997 m, bearing: 222.214631 deg, deltaT: 4.485062 s, approachRate: -0.280935 m/s, LOS rate: -2.215278 deg/s, posRepo size: 4 2021-08-13T13:35:41.183Z,1628861741.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.199997 m, bearing: 222.214631 deg, approachRate: -0.280935 m/s, LOS rate: -2.215278 deg/s, cmd update: -6.645833 deg/s, cmd heading: 203.832180 deg, new cmd heading: 203.272888 deg. 2021-08-13T13:35:43.578Z,1628861743.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:43.941Z,1628861743.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:43.941Z,1628861743.941 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:43.942Z,1628861743.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:43.943Z,1628861743.943 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:44.350Z,1628861744.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 344,000,00B81,189,80,80,4B,FF 2021-08-13T13:35:44.350Z,1628861744.350 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:44.350Z,1628861744.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:44.353Z,1628861744.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:44.777Z,1628861744.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:45.169Z,1628861745.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,00B62,186,80,80,6D,FF 2021-08-13T13:35:45.169Z,1628861745.169 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:45.594Z,1628861745.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133545.87*54 2021-08-13T13:35:45.650Z,1628861745.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.339996 m, bearing: 224.574147 deg, deltaT: 4.382111 s, approachRate: -0.424453 m/s, LOS rate: 0.538443 deg/s, posRepo size: 4 2021-08-13T13:35:45.657Z,1628861745.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.339996 m, bearing: 224.574147 deg, approachRate: -0.424453 m/s, LOS rate: 0.538443 deg/s, cmd update: 1.615328 deg/s, cmd heading: 174.682107 deg, new cmd heading: 171.769545 deg. 2021-08-13T13:35:48.079Z,1628861748.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:48.389Z,1628861748.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:48.389Z,1628861748.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:48.389Z,1628861748.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:48.390Z,1628861748.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:48.793Z,1628861748.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1A9,000,00B62,186,80,80,6D,FF 2021-08-13T13:35:48.793Z,1628861748.793 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:48.793Z,1628861748.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:48.795Z,1628861748.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:49.208Z,1628861749.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:49.605Z,1628861749.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00B3F,183,80,80,99,FF 2021-08-13T13:35:49.605Z,1628861749.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:50.053Z,1628861750.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133550.32*5E 2021-08-13T13:35:50.125Z,1628861750.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.240005 m, bearing: 227.610125 deg, deltaT: 4.468247 s, approachRate: -0.469981 m/s, LOS rate: 0.679456 deg/s, posRepo size: 4 2021-08-13T13:35:50.127Z,1628861750.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.240005 m, bearing: 227.610125 deg, approachRate: -0.469981 m/s, LOS rate: 0.679456 deg/s, cmd update: 2.038369 deg/s, cmd heading: 181.892963 deg, new cmd heading: 182.659559 deg. 2021-08-13T13:35:52.459Z,1628861752.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:52.845Z,1628861752.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:52.845Z,1628861752.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:52.845Z,1628861752.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:52.846Z,1628861752.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:53.249Z,1628861753.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF1,000,00B3F,183,80,80,99,FF 2021-08-13T13:35:53.249Z,1628861753.249 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:53.249Z,1628861753.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:53.251Z,1628861753.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:53.655Z,1628861753.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:54.093Z,1628861754.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00B21,186,80,80,85,FF 2021-08-13T13:35:54.093Z,1628861754.093 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:54.097Z,1628861754.097 [Micromodem](INFO): Nmea in: $SNTTA,0.292182,0.292176,,,133554.77*50 2021-08-13T13:35:54.522Z,1628861754.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.440002 m, bearing: 227.620494 deg, deltaT: 4.550785 s, approachRate: -0.395537 m/s, LOS rate: 0.002278 deg/s, posRepo size: 4 2021-08-13T13:35:54.525Z,1628861754.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.440002 m, bearing: 227.620494 deg, approachRate: -0.395537 m/s, LOS rate: 0.002278 deg/s, cmd update: 0.006835 deg/s, cmd heading: 191.160544 deg, new cmd heading: 191.823597 deg. 2021-08-13T13:35:56.934Z,1628861756.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:35:57.277Z,1628861757.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:35:57.277Z,1628861757.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:35:57.277Z,1628861757.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:35:57.278Z,1628861757.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:35:57.681Z,1628861757.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E93,000,00B21,186,80,80,85,FF 2021-08-13T13:35:57.681Z,1628861757.681 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:35:57.681Z,1628861757.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:35:57.683Z,1628861757.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:35:58.112Z,1628861758.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:35:58.493Z,1628861758.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,00B01,189,80,80,8A,FF 2021-08-13T13:35:58.494Z,1628861758.494 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:35:58.925Z,1628861758.925 [Micromodem](INFO): Nmea in: $SNTTA,0.089771,,,,133559.21*4B 2021-08-13T13:35:58.971Z,1628861758.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.520004 m, bearing: 228.771968 deg, deltaT: 4.362639 s, approachRate: -0.440100 m/s, LOS rate: 0.263940 deg/s, posRepo size: 4 2021-08-13T13:35:58.973Z,1628861758.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.520004 m, bearing: 228.771968 deg, approachRate: -0.440100 m/s, LOS rate: 0.263940 deg/s, cmd update: 0.791820 deg/s, cmd heading: 191.190417 deg, new cmd heading: 191.193173 deg. 2021-08-13T13:36:01.343Z,1628861761.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:01.732Z,1628861761.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:01.733Z,1628861761.733 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:01.733Z,1628861761.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:01.734Z,1628861761.734 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:02.133Z,1628861762.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D24,000,00B01,189,80,80,8A,FF 2021-08-13T13:36:02.133Z,1628861762.133 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:02.133Z,1628861762.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:02.135Z,1628861762.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:02.537Z,1628861762.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:02.941Z,1628861762.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C52,000,00AEB,189,80,80,93,FF 2021-08-13T13:36:02.942Z,1628861762.941 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:03.385Z,1628861763.385 [Micromodem](INFO): Nmea in: $SNTTA,0.086517,,,,133603.66*49 2021-08-13T13:36:03.405Z,1628861763.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.199997 m, bearing: 233.712271 deg, deltaT: 4.429014 s, approachRate: -0.298036 m/s, LOS rate: 1.115441 deg/s, posRepo size: 4 2021-08-13T13:36:03.409Z,1628861763.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.199997 m, bearing: 233.712271 deg, approachRate: -0.298036 m/s, LOS rate: 1.115441 deg/s, cmd update: 3.346323 deg/s, cmd heading: 194.691065 deg, new cmd heading: 195.018219 deg. 2021-08-13T13:36:05.814Z,1628861765.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:06.165Z,1628861766.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:06.165Z,1628861766.165 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:06.165Z,1628861766.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:06.166Z,1628861766.166 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:06.577Z,1628861766.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C52,000,00AEB,189,80,80,93,FF 2021-08-13T13:36:06.577Z,1628861766.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:06.577Z,1628861766.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:06.579Z,1628861766.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:07.061Z,1628861767.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:07.469Z,1628861767.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,00AD2,189,80,80,6F,FF 2021-08-13T13:36:07.469Z,1628861767.469 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:07.886Z,1628861767.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133608.10*50 2021-08-13T13:36:07.933Z,1628861767.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 232.248124 deg, deltaT: 4.489206 s, approachRate: -0.334135 m/s, LOS rate: -0.326148 deg/s, posRepo size: 4 2021-08-13T13:36:07.935Z,1628861767.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.699997 m, bearing: 232.248124 deg, approachRate: -0.334135 m/s, LOS rate: -0.326148 deg/s, cmd update: -0.978445 deg/s, cmd heading: 209.741386 deg, new cmd heading: 211.221605 deg. 2021-08-13T13:36:10.338Z,1628861770.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:10.689Z,1628861770.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:10.689Z,1628861770.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:10.690Z,1628861770.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:10.691Z,1628861770.691 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:11.097Z,1628861771.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE9,000,00AD2,189,80,80,6F,FF 2021-08-13T13:36:11.098Z,1628861771.098 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:11.098Z,1628861771.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:11.099Z,1628861771.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:11.509Z,1628861771.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:11.909Z,1628861771.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00AB8,189,80,80,78,FF 2021-08-13T13:36:11.910Z,1628861771.910 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:12.337Z,1628861772.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133612.62*5E 2021-08-13T13:36:12.383Z,1628861772.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.140007 m, bearing: 173.409924 deg, deltaT: 4.476659 s, approachRate: -0.348472 m/s, LOS rate: -13.143329 deg/s, posRepo size: 4 2021-08-13T13:36:12.384Z,1628861772.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.143329 deg/s. Setting heading cmd to target bearing of 173.409924deg and heading rate command to 0 deg/s. 2021-08-13T13:36:14.793Z,1628861774.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:15.141Z,1628861775.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:15.141Z,1628861775.141 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:15.141Z,1628861775.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:15.142Z,1628861775.142 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:15.549Z,1628861775.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 255,000,00AB8,189,80,80,78,FF 2021-08-13T13:36:15.549Z,1628861775.549 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:15.549Z,1628861775.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:15.551Z,1628861775.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:15.959Z,1628861775.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:16.361Z,1628861776.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00A9A,189,80,80,8C,FF 2021-08-13T13:36:16.362Z,1628861776.362 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:16.805Z,1628861776.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133617.07*58 2021-08-13T13:36:16.836Z,1628861776.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.340004 m, bearing: 232.286428 deg, deltaT: 4.458140 s, approachRate: -0.403756 m/s, LOS rate: 13.206517 deg/s, posRepo size: 4 2021-08-13T13:36:16.837Z,1628861776.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.206517 deg/s. Setting heading cmd to target bearing of 232.286428deg and heading rate command to 0 deg/s. 2021-08-13T13:36:19.199Z,1628861779.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:19.581Z,1628861779.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:19.581Z,1628861779.581 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:19.581Z,1628861779.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:19.582Z,1628861779.582 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:19.997Z,1628861779.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D33,000,00A9A,189,80,80,8C,FF 2021-08-13T13:36:19.997Z,1628861779.997 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:19.997Z,1628861779.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:19.999Z,1628861779.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:20.392Z,1628861780.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:20.797Z,1628861780.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BAB,000,00A81,18A,80,80,AC,FF 2021-08-13T13:36:20.798Z,1628861780.798 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:21.229Z,1628861781.229 [Micromodem](INFO): Nmea in: $SNTTA,0.085844,,,,133621.53*47 2021-08-13T13:36:21.268Z,1628861781.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.840004 m, bearing: 237.524473 deg, deltaT: 4.403909 s, approachRate: -0.340606 m/s, LOS rate: 1.189408 deg/s, posRepo size: 4 2021-08-13T13:36:21.270Z,1628861781.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.840004 m, bearing: 237.524473 deg, approachRate: -0.340606 m/s, LOS rate: 1.189408 deg/s, cmd update: 3.568224 deg/s, cmd heading: 232.286428 deg, new cmd heading: 232.286428 deg. 2021-08-13T13:36:23.647Z,1628861783.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:24.033Z,1628861784.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:24.033Z,1628861784.033 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:24.034Z,1628861784.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:24.035Z,1628861784.035 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:24.437Z,1628861784.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BAB,000,00A81,18A,80,80,AC,FF 2021-08-13T13:36:24.437Z,1628861784.437 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:24.438Z,1628861784.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:24.439Z,1628861784.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:24.836Z,1628861784.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:25.245Z,1628861785.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1E,000,00A6D,189,80,80,88,FF 2021-08-13T13:36:25.245Z,1628861785.245 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:25.679Z,1628861785.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133625.97*50 2021-08-13T13:36:25.758Z,1628861785.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.640007 m, bearing: 230.528583 deg, deltaT: 4.573390 s, approachRate: -0.262387 m/s, LOS rate: -1.529695 deg/s, posRepo size: 4 2021-08-13T13:36:25.760Z,1628861785.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.640007 m, bearing: 230.528583 deg, approachRate: -0.262387 m/s, LOS rate: -1.529695 deg/s, cmd update: -4.589084 deg/s, cmd heading: 248.606726 deg, new cmd heading: 249.890227 deg. 2021-08-13T13:36:28.162Z,1628861788.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:28.481Z,1628861788.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:28.481Z,1628861788.481 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:28.481Z,1628861788.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:28.482Z,1628861788.482 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:28.878Z,1628861788.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D1E,000,00A6D,189,80,80,88,FF 2021-08-13T13:36:28.878Z,1628861788.878 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:28.878Z,1628861788.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:28.881Z,1628861788.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:29.296Z,1628861789.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:29.689Z,1628861789.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,00A51,189,80,80,B1,FF 2021-08-13T13:36:29.689Z,1628861789.689 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:30.137Z,1628861790.137 [Micromodem](INFO): Nmea in: $SNTTA,0.080426,,,,133630.41*49 2021-08-13T13:36:30.206Z,1628861790.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.960007 m, bearing: 242.029693 deg, deltaT: 4.393972 s, approachRate: -0.382342 m/s, LOS rate: 2.617474 deg/s, posRepo size: 4 2021-08-13T13:36:30.212Z,1628861790.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.960007 m, bearing: 242.029693 deg, approachRate: -0.382342 m/s, LOS rate: 2.617474 deg/s, cmd update: 7.852423 deg/s, cmd heading: 228.495048 deg, new cmd heading: 226.545670 deg. 2021-08-13T13:36:32.537Z,1628861792.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:32.921Z,1628861792.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:32.921Z,1628861792.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:32.921Z,1628861792.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:32.922Z,1628861792.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:33.321Z,1628861793.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DAD,000,00A51,189,80,80,B1,FF 2021-08-13T13:36:33.321Z,1628861793.321 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:33.321Z,1628861793.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:33.323Z,1628861793.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:33.775Z,1628861793.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:34.129Z,1628861794.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00A35,185,80,80,B3,FF 2021-08-13T13:36:34.129Z,1628861794.129 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:34.589Z,1628861794.589 [Micromodem](INFO): Nmea in: $SNTTA,0.082347,,,,133634.85*47 2021-08-13T13:36:34.612Z,1628861794.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.280006 m, bearing: 235.890200 deg, deltaT: 4.411193 s, approachRate: -0.380849 m/s, LOS rate: -1.391799 deg/s, posRepo size: 4 2021-08-13T13:36:34.614Z,1628861794.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.280006 m, bearing: 235.890200 deg, approachRate: -0.380849 m/s, LOS rate: -1.391799 deg/s, cmd update: -4.175396 deg/s, cmd heading: 263.156588 deg, new cmd heading: 266.428449 deg. 2021-08-13T13:36:36.990Z,1628861796.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:37.375Z,1628861797.375 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:37.375Z,1628861797.375 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:37.375Z,1628861797.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:37.376Z,1628861797.376 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:37.773Z,1628861797.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCE,000,00A35,185,80,80,B3,FF 2021-08-13T13:36:37.773Z,1628861797.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:37.774Z,1628861797.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:37.775Z,1628861797.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:38.190Z,1628861798.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:38.578Z,1628861798.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,00A12,188,80,80,A5,FF 2021-08-13T13:36:38.578Z,1628861798.578 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:39.013Z,1628861799.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 227.596766 deg, deltaT: 4.424191 s, approachRate: -0.474664 m/s, LOS rate: -1.874565 deg/s, posRepo size: 4 2021-08-13T13:36:39.015Z,1628861799.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.180000 m, bearing: 227.596766 deg, approachRate: -0.474664 m/s, LOS rate: -1.874565 deg/s, cmd update: -5.623695 deg/s, cmd heading: 244.664906 deg, new cmd heading: 243.039896 deg. 2021-08-13T13:36:41.419Z,1628861801.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:41.825Z,1628861801.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:41.825Z,1628861801.825 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:41.825Z,1628861801.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:41.826Z,1628861801.826 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:42.213Z,1628861802.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 22A,000,00A12,188,80,80,A5,FF 2021-08-13T13:36:42.214Z,1628861802.214 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:42.214Z,1628861802.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:42.216Z,1628861802.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:42.635Z,1628861802.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:43.025Z,1628861803.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,009F5,189,80,80,B9,FF 2021-08-13T13:36:43.025Z,1628861803.025 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:43.470Z,1628861803.470 [Micromodem](INFO): Nmea in: $SNTTA,0.079114,,,,133643.74*49 2021-08-13T13:36:43.492Z,1628861803.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.440010 m, bearing: 229.534244 deg, deltaT: 4.453149 s, approachRate: -0.390733 m/s, LOS rate: 0.435081 deg/s, posRepo size: 4 2021-08-13T13:36:43.494Z,1628861803.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.440010 m, bearing: 229.534244 deg, approachRate: -0.390733 m/s, LOS rate: 0.435081 deg/s, cmd update: 1.305242 deg/s, cmd heading: 219.623592 deg, new cmd heading: 217.289309 deg. 2021-08-13T13:36:45.917Z,1628861805.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:46.282Z,1628861806.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:46.282Z,1628861806.282 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:46.282Z,1628861806.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:46.283Z,1628861806.283 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:46.669Z,1628861806.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A0,000,009F5,189,80,80,B9,FF 2021-08-13T13:36:46.670Z,1628861806.670 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:46.670Z,1628861806.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:46.673Z,1628861806.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:47.057Z,1628861807.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:47.474Z,1628861807.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,009D9,186,80,80,AB,FF 2021-08-13T13:36:47.475Z,1628861807.475 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:47.898Z,1628861807.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133648.20*57 2021-08-13T13:36:47.925Z,1628861807.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.760002 m, bearing: 233.152114 deg, deltaT: 4.416335 s, approachRate: -0.380408 m/s, LOS rate: 0.819202 deg/s, posRepo size: 4 2021-08-13T13:36:47.927Z,1628861807.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.760002 m, bearing: 233.152114 deg, approachRate: -0.380408 m/s, LOS rate: 0.819202 deg/s, cmd update: 2.457605 deg/s, cmd heading: 225.393413 deg, new cmd heading: 225.951962 deg. 2021-08-13T13:36:50.337Z,1628861810.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:50.685Z,1628861810.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:50.686Z,1628861810.686 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:50.686Z,1628861810.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:50.686Z,1628861810.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:51.101Z,1628861811.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 111,000,009D9,186,80,80,AB,FF 2021-08-13T13:36:51.102Z,1628861811.102 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:51.102Z,1628861811.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:51.103Z,1628861811.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:51.503Z,1628861811.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:51.906Z,1628861811.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,009B4,183,80,80,AF,FF 2021-08-13T13:36:51.906Z,1628861811.906 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:52.331Z,1628861812.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133652.67*5F 2021-08-13T13:36:52.420Z,1628861812.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.540001 m, bearing: 234.414196 deg, deltaT: 4.461861 s, approachRate: -0.497551 m/s, LOS rate: 0.282860 deg/s, posRepo size: 4 2021-08-13T13:36:52.422Z,1628861812.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.540001 m, bearing: 234.414196 deg, approachRate: -0.497551 m/s, LOS rate: 0.282860 deg/s, cmd update: 0.848580 deg/s, cmd heading: 236.349375 deg, new cmd heading: 237.481495 deg. 2021-08-13T13:36:54.814Z,1628861814.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:55.133Z,1628861815.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:55.133Z,1628861815.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:55.133Z,1628861815.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:55.134Z,1628861815.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:55.537Z,1628861815.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF6,000,009B4,183,80,80,AF,FF 2021-08-13T13:36:55.537Z,1628861815.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:55.537Z,1628861815.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:55.539Z,1628861815.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:36:55.962Z,1628861815.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:36:56.350Z,1628861816.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,0098F,186,80,80,8A,FF 2021-08-13T13:36:56.350Z,1628861816.350 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:36:56.789Z,1628861816.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133657.06*5D 2021-08-13T13:36:56.832Z,1628861816.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 232.593814 deg, deltaT: 4.483966 s, approachRate: -0.495098 m/s, LOS rate: -0.405976 deg/s, posRepo size: 4 2021-08-13T13:36:56.834Z,1628861816.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.320000 m, bearing: 232.593814 deg, approachRate: -0.495098 m/s, LOS rate: -0.405976 deg/s, cmd update: -1.217928 deg/s, cmd heading: 240.153803 deg, new cmd heading: 240.487817 deg. 2021-08-13T13:36:59.195Z,1628861819.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:36:59.581Z,1628861819.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:36:59.581Z,1628861819.581 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:36:59.581Z,1628861819.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:36:59.582Z,1628861819.582 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:36:59.981Z,1628861819.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B0,000,0098F,186,80,80,8A,FF 2021-08-13T13:36:59.981Z,1628861819.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:36:59.982Z,1628861819.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:36:59.988Z,1628861819.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:00.401Z,1628861820.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:00.793Z,1628861820.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,0096C,185,80,80,8F,FF 2021-08-13T13:37:00.793Z,1628861820.793 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:01.225Z,1628861821.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133701.51*5D 2021-08-13T13:37:01.263Z,1628861821.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 230.269282 deg, deltaT: 4.401816 s, approachRate: -0.477075 m/s, LOS rate: -0.528085 deg/s, posRepo size: 4 2021-08-13T13:37:01.266Z,1628861821.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.220001 m, bearing: 230.269282 deg, approachRate: -0.477075 m/s, LOS rate: -0.528085 deg/s, cmd update: -1.584254 deg/s, cmd heading: 234.816600 deg, new cmd heading: 234.280237 deg. 2021-08-13T13:37:03.635Z,1628861823.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:04.052Z,1628861824.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:04.053Z,1628861824.053 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:04.053Z,1628861824.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:04.055Z,1628861824.055 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:04.421Z,1628861824.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 157,000,0096C,185,80,80,8F,FF 2021-08-13T13:37:04.421Z,1628861824.421 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:04.422Z,1628861824.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:04.423Z,1628861824.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:04.837Z,1628861824.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:05.233Z,1628861825.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00948,186,80,80,71,FF 2021-08-13T13:37:05.234Z,1628861825.234 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:05.680Z,1628861825.680 [Micromodem](INFO): Nmea in: $SNTTA,0.080164,,,,133705.95*44 2021-08-13T13:37:05.747Z,1628861825.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 230.318377 deg, deltaT: 4.521387 s, approachRate: -0.477729 m/s, LOS rate: 0.010858 deg/s, posRepo size: 4 2021-08-13T13:37:05.753Z,1628861825.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.060005 m, bearing: 230.318377 deg, approachRate: -0.477729 m/s, LOS rate: 0.010858 deg/s, cmd update: 0.032575 deg/s, cmd heading: 227.623026 deg, new cmd heading: 227.012364 deg. 2021-08-13T13:37:08.159Z,1628861828.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:08.477Z,1628861828.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:08.477Z,1628861828.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:08.477Z,1628861828.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:08.478Z,1628861828.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:08.870Z,1628861828.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0E8,000,00948,186,80,80,71,FF 2021-08-13T13:37:08.870Z,1628861828.870 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:08.870Z,1628861828.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:08.873Z,1628861828.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:09.282Z,1628861829.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:09.690Z,1628861829.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,00924,186,80,80,C8,FF 2021-08-13T13:37:09.690Z,1628861829.690 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:10.133Z,1628861830.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133710.40*5D 2021-08-13T13:37:10.191Z,1628861830.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.900002 m, bearing: 231.847165 deg, deltaT: 4.398628 s, approachRate: -0.491063 m/s, LOS rate: 0.347560 deg/s, posRepo size: 4 2021-08-13T13:37:10.193Z,1628861830.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.900002 m, bearing: 231.847165 deg, approachRate: -0.491063 m/s, LOS rate: 0.347560 deg/s, cmd update: 1.042680 deg/s, cmd heading: 227.766210 deg, new cmd heading: 227.780353 deg. 2021-08-13T13:37:12.541Z,1628861832.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:12.917Z,1628861832.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:12.917Z,1628861832.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:12.917Z,1628861832.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:12.918Z,1628861832.918 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:13.313Z,1628861833.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 066,000,00924,186,80,80,C8,FF 2021-08-13T13:37:13.313Z,1628861833.313 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:13.313Z,1628861833.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:13.315Z,1628861833.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:13.745Z,1628861833.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:14.129Z,1628861834.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,064,000,00902,187,80,80,9F,FF 2021-08-13T13:37:14.129Z,1628861834.129 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:14.610Z,1628861834.610 [Micromodem](INFO): Nmea in: $SNTTA,0.074298,,,,133714.84*4F 2021-08-13T13:37:14.632Z,1628861834.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.860001 m, bearing: 230.819959 deg, deltaT: 4.432363 s, approachRate: -0.460251 m/s, LOS rate: -0.231751 deg/s, posRepo size: 4 2021-08-13T13:37:14.634Z,1628861834.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.860001 m, bearing: 230.819959 deg, approachRate: -0.460251 m/s, LOS rate: -0.231751 deg/s, cmd update: -0.695254 deg/s, cmd heading: 232.383657 deg, new cmd heading: 232.849219 deg. 2021-08-13T13:37:17.006Z,1628861837.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:17.353Z,1628861837.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:17.354Z,1628861837.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:17.354Z,1628861837.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:17.355Z,1628861837.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:17.785Z,1628861837.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 064,000,00902,187,80,80,9F,FF 2021-08-13T13:37:17.785Z,1628861837.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:17.785Z,1628861837.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:17.787Z,1628861837.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:18.173Z,1628861838.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:18.581Z,1628861838.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,008DC,186,80,80,A2,FF 2021-08-13T13:37:18.581Z,1628861838.581 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:18.997Z,1628861838.997 [Micromodem](INFO): Nmea in: $SNTTA,0.065403,,,,133719.31*48 2021-08-13T13:37:19.043Z,1628861839.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.580002 m, bearing: 230.594864 deg, deltaT: 4.487149 s, approachRate: -0.508117 m/s, LOS rate: -0.050165 deg/s, posRepo size: 4 2021-08-13T13:37:19.049Z,1628861839.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.580002 m, bearing: 230.594864 deg, approachRate: -0.508117 m/s, LOS rate: -0.050165 deg/s, cmd update: -0.150494 deg/s, cmd heading: 229.255506 deg, new cmd heading: 229.006089 deg. 2021-08-13T13:37:21.411Z,1628861841.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:21.801Z,1628861841.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:21.801Z,1628861841.801 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:21.802Z,1628861841.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:21.803Z,1628861841.803 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:22.212Z,1628861842.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A2,000,008DC,186,80,80,A2,FF 2021-08-13T13:37:22.212Z,1628861842.212 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:22.213Z,1628861842.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:22.214Z,1628861842.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:22.609Z,1628861842.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:23.021Z,1628861843.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,008B9,186,80,80,8F,FF 2021-08-13T13:37:23.021Z,1628861843.021 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:23.445Z,1628861843.445 [Micromodem](INFO): Nmea in: $SNTTA,0.073636,,,,133723.74*43 2021-08-13T13:37:23.495Z,1628861843.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 231.588793 deg, deltaT: 4.384531 s, approachRate: -0.478958 m/s, LOS rate: 0.226690 deg/s, posRepo size: 4 2021-08-13T13:37:23.501Z,1628861843.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.479996 m, bearing: 231.588793 deg, approachRate: -0.478958 m/s, LOS rate: 0.226690 deg/s, cmd update: 0.680070 deg/s, cmd heading: 228.598739 deg, new cmd heading: 228.531505 deg. 2021-08-13T13:37:25.883Z,1628861845.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:26.239Z,1628861846.239 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:26.239Z,1628861846.239 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:26.239Z,1628861846.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:26.241Z,1628861846.241 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:26.649Z,1628861846.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 074,000,008B9,186,80,80,8F,FF 2021-08-13T13:37:26.649Z,1628861846.649 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:26.649Z,1628861846.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:26.651Z,1628861846.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:27.053Z,1628861847.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:27.453Z,1628861847.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,070,000,00896,186,80,80,9F,FF 2021-08-13T13:37:27.453Z,1628861847.453 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:27.902Z,1628861847.902 [Micromodem](INFO): Nmea in: $SNTTA,0.065403,,,,133728.17*4E 2021-08-13T13:37:27.928Z,1628861847.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.380005 m, bearing: 231.514508 deg, deltaT: 4.425588 s, approachRate: -0.474511 m/s, LOS rate: -0.016785 deg/s, posRepo size: 4 2021-08-13T13:37:27.930Z,1628861847.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 94.380005 m, bearing: 231.514508 deg, approachRate: -0.474511 m/s, LOS rate: -0.016785 deg/s, cmd update: -0.050356 deg/s, cmd heading: 231.606051 deg, new cmd heading: 231.917306 deg. 2021-08-13T13:37:30.325Z,1628861850.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:30.689Z,1628861850.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:30.689Z,1628861850.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:30.689Z,1628861850.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:30.690Z,1628861850.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:31.089Z,1628861851.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 070,000,00896,186,80,80,9F,FF 2021-08-13T13:37:31.089Z,1628861851.089 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:31.089Z,1628861851.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:31.091Z,1628861851.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:31.496Z,1628861851.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:31.902Z,1628861851.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,0086E,186,80,80,B5,FF 2021-08-13T13:37:31.902Z,1628861851.902 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:32.337Z,1628861852.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133732.61*5E 2021-08-13T13:37:32.385Z,1628861852.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.979996 m, bearing: 230.766110 deg, deltaT: 4.467011 s, approachRate: -0.537274 m/s, LOS rate: -0.167539 deg/s, posRepo size: 4 2021-08-13T13:37:32.387Z,1628861852.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.979996 m, bearing: 230.766110 deg, approachRate: -0.537274 m/s, LOS rate: -0.167539 deg/s, cmd update: -0.502616 deg/s, cmd heading: 231.380103 deg, new cmd heading: 231.358604 deg. 2021-08-13T13:37:34.771Z,1628861854.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:35.133Z,1628861855.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:35.133Z,1628861855.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:35.133Z,1628861855.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:35.134Z,1628861855.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:35.533Z,1628861855.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 094,000,0086E,186,80,80,B5,FF 2021-08-13T13:37:35.533Z,1628861855.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:35.533Z,1628861855.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:35.535Z,1628861855.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:35.952Z,1628861855.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:36.341Z,1628861856.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00849,186,80,80,C1,FF 2021-08-13T13:37:36.341Z,1628861856.341 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:36.785Z,1628861856.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133737.06*5A 2021-08-13T13:37:36.823Z,1628861856.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.760002 m, bearing: 230.455610 deg, deltaT: 4.436947 s, approachRate: -0.500343 m/s, LOS rate: -0.069981 deg/s, posRepo size: 4 2021-08-13T13:37:36.825Z,1628861856.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.760002 m, bearing: 230.455610 deg, approachRate: -0.500343 m/s, LOS rate: -0.069981 deg/s, cmd update: -0.209942 deg/s, cmd heading: 229.158057 deg, new cmd heading: 228.934700 deg. 2021-08-13T13:37:39.198Z,1628861859.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:39.609Z,1628861859.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:39.609Z,1628861859.609 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:39.609Z,1628861859.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:39.610Z,1628861859.610 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:39.981Z,1628861859.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 08E,000,00849,186,80,80,C1,FF 2021-08-13T13:37:39.981Z,1628861859.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:39.981Z,1628861859.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:39.987Z,1628861859.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:40.400Z,1628861860.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:40.781Z,1628861860.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,070,000,00826,186,80,80,C5,FF 2021-08-13T13:37:40.782Z,1628861860.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:41.233Z,1628861861.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133741.51*59 2021-08-13T13:37:41.249Z,1628861861.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 230.980387 deg, deltaT: 4.434617 s, approachRate: -0.473548 m/s, LOS rate: 0.118337 deg/s, posRepo size: 4 2021-08-13T13:37:41.251Z,1628861861.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.659996 m, bearing: 230.980387 deg, approachRate: -0.473548 m/s, LOS rate: 0.118337 deg/s, cmd update: 0.355010 deg/s, cmd heading: 228.227955 deg, new cmd heading: 228.135585 deg. 2021-08-13T13:37:43.643Z,1628861863.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:44.028Z,1628861864.028 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:44.029Z,1628861864.029 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:44.029Z,1628861864.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:44.030Z,1628861864.030 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:44.429Z,1628861864.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 070,000,00826,186,80,80,C5,FF 2021-08-13T13:37:44.429Z,1628861864.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:44.429Z,1628861864.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:44.431Z,1628861864.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:44.844Z,1628861864.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:45.237Z,1628861865.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00804,187,80,80,B1,FF 2021-08-13T13:37:45.238Z,1628861865.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:45.706Z,1628861865.706 [Micromodem](INFO): Nmea in: $SNTTA,0.092261,,,,133745.95*45 2021-08-13T13:37:45.753Z,1628861865.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 229.907883 deg, deltaT: 4.452968 s, approachRate: -0.458120 m/s, LOS rate: -0.240851 deg/s, posRepo size: 4 2021-08-13T13:37:45.755Z,1628861865.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.620003 m, bearing: 229.907883 deg, approachRate: -0.458120 m/s, LOS rate: -0.240851 deg/s, cmd update: -0.722554 deg/s, cmd heading: 229.806280 deg, new cmd heading: 229.983020 deg. 2021-08-13T13:37:48.162Z,1628861868.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:48.469Z,1628861868.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:48.469Z,1628861868.469 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:48.469Z,1628861868.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:48.470Z,1628861868.470 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:48.866Z,1628861868.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 075,000,00804,187,80,80,B1,FF 2021-08-13T13:37:48.867Z,1628861868.867 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:48.867Z,1628861868.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:48.870Z,1628861868.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:49.290Z,1628861869.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:49.681Z,1628861869.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,007DB,186,80,80,A0,FF 2021-08-13T13:37:49.682Z,1628861869.682 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:50.129Z,1628861870.129 [Micromodem](INFO): Nmea in: $SNTTA,0.480920,0.480770,,,133750.39*5C 2021-08-13T13:37:50.197Z,1628861870.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.160004 m, bearing: 229.342453 deg, deltaT: 4.471221 s, approachRate: -0.550185 m/s, LOS rate: -0.126460 deg/s, posRepo size: 4 2021-08-13T13:37:50.199Z,1628861870.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.160004 m, bearing: 229.342453 deg, approachRate: -0.550185 m/s, LOS rate: -0.126460 deg/s, cmd update: -0.379380 deg/s, cmd heading: 226.559168 deg, new cmd heading: 226.235139 deg. 2021-08-13T13:37:52.543Z,1628861872.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:52.913Z,1628861872.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:52.913Z,1628861872.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:52.913Z,1628861872.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:52.914Z,1628861872.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:53.322Z,1628861873.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 07D,000,007DB,186,80,80,A0,FF 2021-08-13T13:37:53.322Z,1628861873.322 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:53.322Z,1628861873.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:53.325Z,1628861873.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:53.746Z,1628861873.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:54.130Z,1628861874.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,007B4,185,80,80,98,FF 2021-08-13T13:37:54.130Z,1628861874.130 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:54.136Z,1628861874.136 [Micromodem](INFO): Nmea in: $SNTTA,0.060090,0.253570,,,133754.85*5D 2021-08-13T13:37:54.589Z,1628861874.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.820000 m, bearing: 229.015587 deg, deltaT: 4.461050 s, approachRate: -0.524541 m/s, LOS rate: -0.073271 deg/s, posRepo size: 4 2021-08-13T13:37:54.591Z,1628861874.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.820000 m, bearing: 229.015587 deg, approachRate: -0.524541 m/s, LOS rate: -0.073271 deg/s, cmd update: -0.219813 deg/s, cmd heading: 224.864960 deg, new cmd heading: 224.722668 deg. 2021-08-13T13:37:56.997Z,1628861876.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:37:57.355Z,1628861877.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:37:57.355Z,1628861877.355 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:37:57.355Z,1628861877.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:37:57.356Z,1628861877.356 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:37:57.781Z,1628861877.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05D,000,007B4,185,80,80,98,FF 2021-08-13T13:37:57.781Z,1628861877.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:37:57.781Z,1628861877.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:37:57.783Z,1628861877.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:37:58.162Z,1628861878.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:37:58.569Z,1628861878.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00790,185,80,80,9D,FF 2021-08-13T13:37:58.569Z,1628861878.569 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:37:58.993Z,1628861878.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133759.31*56 2021-08-13T13:37:59.034Z,1628861879.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.660004 m, bearing: 230.023586 deg, deltaT: 4.408801 s, approachRate: -0.489928 m/s, LOS rate: 0.228633 deg/s, posRepo size: 4 2021-08-13T13:37:59.036Z,1628861879.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 78.660004 m, bearing: 230.023586 deg, approachRate: -0.489928 m/s, LOS rate: 0.228633 deg/s, cmd update: 0.685900 deg/s, cmd heading: 223.894969 deg, new cmd heading: 223.805486 deg. 2021-08-13T13:38:01.433Z,1628861881.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:01.793Z,1628861881.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:01.793Z,1628861881.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:01.793Z,1628861881.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:01.794Z,1628861881.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:02.203Z,1628861882.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02E,000,00790,185,80,80,9D,FF 2021-08-13T13:38:02.203Z,1628861882.203 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:02.203Z,1628861882.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:02.206Z,1628861882.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:02.604Z,1628861882.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:03.005Z,1628861883.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0076B,183,80,80,9D,FF 2021-08-13T13:38:03.005Z,1628861883.005 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:03.451Z,1628861883.451 [Micromodem](INFO): Nmea in: $SNTTA,0.065750,,,,133803.73*4F 2021-08-13T13:38:03.471Z,1628861883.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.440010 m, bearing: 231.202504 deg, deltaT: 4.470048 s, approachRate: -0.496638 m/s, LOS rate: 0.263737 deg/s, posRepo size: 4 2021-08-13T13:38:03.474Z,1628861883.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.440010 m, bearing: 231.202504 deg, approachRate: -0.496638 m/s, LOS rate: 0.263737 deg/s, cmd update: 0.791212 deg/s, cmd heading: 226.955382 deg, new cmd heading: 227.217756 deg. 2021-08-13T13:38:05.885Z,1628861885.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:06.237Z,1628861886.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:06.237Z,1628861886.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:06.237Z,1628861886.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:06.238Z,1628861886.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:06.641Z,1628861886.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 00C,000,0076B,183,80,80,9D,FF 2021-08-13T13:38:06.641Z,1628861886.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:06.641Z,1628861886.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:06.643Z,1628861886.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:07.049Z,1628861887.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:07.453Z,1628861887.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00742,184,80,80,B6,FF 2021-08-13T13:38:07.453Z,1628861887.453 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:07.890Z,1628861887.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133808.17*59 2021-08-13T13:38:07.967Z,1628861887.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.980011 m, bearing: 229.361468 deg, deltaT: 4.373298 s, approachRate: -0.562504 m/s, LOS rate: -0.420972 deg/s, posRepo size: 4 2021-08-13T13:38:07.969Z,1628861887.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.980011 m, bearing: 229.361468 deg, approachRate: -0.562504 m/s, LOS rate: -0.420972 deg/s, cmd update: -1.262916 deg/s, cmd heading: 230.422068 deg, new cmd heading: 230.814649 deg. 2021-08-13T13:38:10.345Z,1628861890.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:10.681Z,1628861890.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:10.681Z,1628861890.681 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:10.682Z,1628861890.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:10.682Z,1628861890.682 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:11.093Z,1628861891.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 056,000,00742,184,80,80,B6,FF 2021-08-13T13:38:11.093Z,1628861891.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:11.093Z,1628861891.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:11.095Z,1628861891.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:11.501Z,1628861891.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:11.894Z,1628861891.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00720,186,80,80,A3,FF 2021-08-13T13:38:11.894Z,1628861891.894 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:12.317Z,1628861892.317 [Micromodem](INFO): Nmea in: $SNTTA,0.047683,0.408557,,,133812.62*55 2021-08-13T13:38:12.364Z,1628861892.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 229.875262 deg, deltaT: 4.514535 s, approachRate: -0.451877 m/s, LOS rate: 0.113809 deg/s, posRepo size: 4 2021-08-13T13:38:12.367Z,1628861892.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.939995 m, bearing: 229.875262 deg, approachRate: -0.451877 m/s, LOS rate: 0.113809 deg/s, cmd update: 0.341427 deg/s, cmd heading: 224.757933 deg, new cmd heading: 224.241856 deg. 2021-08-13T13:38:14.797Z,1628861894.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:15.125Z,1628861895.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:15.125Z,1628861895.125 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:15.125Z,1628861895.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:15.126Z,1628861895.126 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:15.537Z,1628861895.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06A,000,00720,186,80,80,A3,FF 2021-08-13T13:38:15.537Z,1628861895.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:15.537Z,1628861895.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:15.539Z,1628861895.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:15.944Z,1628861895.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:16.350Z,1628861896.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,006FE,183,80,80,AD,FF 2021-08-13T13:38:16.350Z,1628861896.350 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:16.354Z,1628861896.354 [Micromodem](INFO): Nmea in: $SNTTA,0.059525,0.147319,,,133817.06*50 2021-08-13T13:38:16.819Z,1628861896.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 231.378259 deg, deltaT: 4.431068 s, approachRate: -0.460384 m/s, LOS rate: 0.339195 deg/s, posRepo size: 4 2021-08-13T13:38:16.823Z,1628861896.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.900002 m, bearing: 231.378259 deg, approachRate: -0.460384 m/s, LOS rate: 0.339195 deg/s, cmd update: 1.017585 deg/s, cmd heading: 226.280918 deg, new cmd heading: 226.418468 deg. 2021-08-13T13:38:19.192Z,1628861899.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:19.577Z,1628861899.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:19.578Z,1628861899.578 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:19.612Z,1628861899.612 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:19.613Z,1628861899.613 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:19.977Z,1628861899.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 015,000,006FE,183,80,80,AD,FF 2021-08-13T13:38:19.977Z,1628861899.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:19.978Z,1628861899.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:19.979Z,1628861899.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:20.389Z,1628861900.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:20.789Z,1628861900.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,006D5,184,80,80,82,FF 2021-08-13T13:38:20.789Z,1628861900.789 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:21.221Z,1628861901.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133821.50*51 2021-08-13T13:38:21.309Z,1628861901.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 229.700027 deg, deltaT: 4.435741 s, approachRate: -0.554586 m/s, LOS rate: -0.378343 deg/s, posRepo size: 4 2021-08-13T13:38:21.311Z,1628861901.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.440002 m, bearing: 229.700027 deg, approachRate: -0.554586 m/s, LOS rate: -0.378343 deg/s, cmd update: -1.135029 deg/s, cmd heading: 230.790570 deg, new cmd heading: 231.255716 deg. 2021-08-13T13:38:23.627Z,1628861903.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:24.023Z,1628861904.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:24.024Z,1628861904.024 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:24.025Z,1628861904.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:24.026Z,1628861904.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:24.425Z,1628861904.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 04C,000,006D5,184,80,80,82,FF 2021-08-13T13:38:24.425Z,1628861904.425 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:24.425Z,1628861904.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:24.427Z,1628861904.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:24.825Z,1628861904.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:25.229Z,1628861905.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,006AD,186,80,80,97,FF 2021-08-13T13:38:25.229Z,1628861905.229 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:25.665Z,1628861905.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133825.95*5C 2021-08-13T13:38:25.723Z,1628861905.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.040001 m, bearing: 229.260272 deg, deltaT: 4.399679 s, approachRate: -0.545495 m/s, LOS rate: -0.099952 deg/s, posRepo size: 4 2021-08-13T13:38:25.743Z,1628861905.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.040001 m, bearing: 229.260272 deg, approachRate: -0.545495 m/s, LOS rate: -0.099952 deg/s, cmd update: -0.299855 deg/s, cmd heading: 225.792250 deg, new cmd heading: 225.261885 deg. 2021-08-13T13:38:28.155Z,1628861908.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:28.465Z,1628861908.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:28.465Z,1628861908.465 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:28.465Z,1628861908.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:28.466Z,1628861908.466 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:28.866Z,1628861908.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 084,000,006AD,186,80,80,97,FF 2021-08-13T13:38:28.866Z,1628861908.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:28.867Z,1628861908.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:28.870Z,1628861908.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:29.277Z,1628861909.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:29.681Z,1628861909.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00688,186,80,80,A4,FF 2021-08-13T13:38:29.681Z,1628861909.681 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:30.129Z,1628861910.129 [Micromodem](INFO): Nmea in: $SNTTA,0.049978,,,,133830.39*4B 2021-08-13T13:38:30.203Z,1628861910.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.820007 m, bearing: 227.849947 deg, deltaT: 4.494777 s, approachRate: -0.493905 m/s, LOS rate: -0.313770 deg/s, posRepo size: 4 2021-08-13T13:38:30.209Z,1628861910.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.820007 m, bearing: 227.849947 deg, approachRate: -0.493905 m/s, LOS rate: -0.313770 deg/s, cmd update: -0.941309 deg/s, cmd heading: 224.446931 deg, new cmd heading: 224.307583 deg. 2021-08-13T13:38:32.519Z,1628861912.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:32.908Z,1628861912.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:32.908Z,1628861912.908 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:32.908Z,1628861912.908 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:32.909Z,1628861912.909 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:33.301Z,1628861913.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05B,000,00688,186,80,80,A4,FF 2021-08-13T13:38:33.301Z,1628861913.301 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:33.302Z,1628861913.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:33.303Z,1628861913.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:33.738Z,1628861913.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:34.113Z,1628861914.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,00660,185,80,80,A6,FF 2021-08-13T13:38:34.113Z,1628861914.113 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:34.553Z,1628861914.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133834.83*5B 2021-08-13T13:38:34.610Z,1628861914.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 228.852701 deg, deltaT: 4.423671 s, approachRate: -0.542538 m/s, LOS rate: 0.226679 deg/s, posRepo size: 4 2021-08-13T13:38:34.612Z,1628861914.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 60.419998 m, bearing: 228.852701 deg, approachRate: -0.542538 m/s, LOS rate: 0.226679 deg/s, cmd update: 0.680037 deg/s, cmd heading: 220.275169 deg, new cmd heading: 219.860878 deg. 2021-08-13T13:38:36.978Z,1628861916.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:37.345Z,1628861917.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:37.345Z,1628861917.345 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:37.345Z,1628861917.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:37.346Z,1628861917.346 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:37.781Z,1628861917.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01C,000,00660,185,80,80,A6,FF 2021-08-13T13:38:37.781Z,1628861917.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:37.781Z,1628861917.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:37.782Z,1628861917.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:38.272Z,1628861918.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:38.661Z,1628861918.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0063E,183,80,80,A2,FF 2021-08-13T13:38:38.661Z,1628861918.661 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:39.085Z,1628861919.085 [Micromodem](INFO): Nmea in: $SNTTA,0.073015,,,,133839.30*40 2021-08-13T13:38:39.126Z,1628861919.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 229.489985 deg, deltaT: 4.584547 s, approachRate: -0.444972 m/s, LOS rate: 0.139007 deg/s, posRepo size: 4 2021-08-13T13:38:39.128Z,1628861919.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.380001 m, bearing: 229.489985 deg, approachRate: -0.444972 m/s, LOS rate: 0.139007 deg/s, cmd update: 0.417021 deg/s, cmd heading: 223.385008 deg, new cmd heading: 223.645562 deg. 2021-08-13T13:38:41.511Z,1628861921.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:41.905Z,1628861921.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:41.905Z,1628861921.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:41.905Z,1628861921.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:41.906Z,1628861921.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:42.309Z,1628861922.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEE,000,0063E,183,80,80,A2,FF 2021-08-13T13:38:42.309Z,1628861922.309 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:42.309Z,1628861922.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:42.311Z,1628861922.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:42.738Z,1628861922.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:43.105Z,1628861923.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00618,183,80,80,B4,FF 2021-08-13T13:38:43.105Z,1628861923.105 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:43.550Z,1628861923.550 [Micromodem](INFO): Nmea in: $SNTTA,0.067852,,,,133843.83*4B 2021-08-13T13:38:43.573Z,1628861923.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.099998 m, bearing: 229.584788 deg, deltaT: 4.388386 s, approachRate: -0.519554 m/s, LOS rate: 0.021603 deg/s, posRepo size: 4 2021-08-13T13:38:43.575Z,1628861923.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.099998 m, bearing: 229.584788 deg, approachRate: -0.519554 m/s, LOS rate: 0.021603 deg/s, cmd update: 0.064809 deg/s, cmd heading: 225.211507 deg, new cmd heading: 225.398681 deg. 2021-08-13T13:38:45.969Z,1628861925.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:46.349Z,1628861926.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:46.349Z,1628861926.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:46.350Z,1628861926.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:46.351Z,1628861926.351 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:46.773Z,1628861926.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 011,000,00618,183,80,80,B4,FF 2021-08-13T13:38:46.773Z,1628861926.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:46.773Z,1628861926.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:46.775Z,1628861926.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:47.157Z,1628861927.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:47.553Z,1628861927.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,005F2,184,80,80,B0,FF 2021-08-13T13:38:47.554Z,1628861927.554 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:47.981Z,1628861927.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133848.30*58 2021-08-13T13:38:48.086Z,1628861928.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.820000 m, bearing: 229.004263 deg, deltaT: 4.427436 s, approachRate: -0.514970 m/s, LOS rate: -0.131120 deg/s, posRepo size: 4 2021-08-13T13:38:48.089Z,1628861928.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.820000 m, bearing: 229.004263 deg, approachRate: -0.514970 m/s, LOS rate: -0.131120 deg/s, cmd update: -0.393360 deg/s, cmd heading: 225.499745 deg, new cmd heading: 225.533191 deg. 2021-08-13T13:38:50.079Z,1628861930.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:50.389Z,1628861930.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:50.389Z,1628861930.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:50.389Z,1628861930.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:50.390Z,1628861930.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:50.781Z,1628861930.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 034,000,005F2,184,80,80,B0,FF 2021-08-13T13:38:50.781Z,1628861930.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:50.781Z,1628861930.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:50.783Z,1628861930.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:51.205Z,1628861931.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:51.589Z,1628861931.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,005D1,184,80,80,68,FF 2021-08-13T13:38:51.589Z,1628861931.589 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:52.061Z,1628861932.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133852.31*52 2021-08-13T13:38:52.141Z,1628861932.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 229.206095 deg, deltaT: 4.076205 s, approachRate: -0.485745 m/s, LOS rate: 0.049515 deg/s, posRepo size: 4 2021-08-13T13:38:52.143Z,1628861932.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.840004 m, bearing: 229.206095 deg, approachRate: -0.485745 m/s, LOS rate: 0.049515 deg/s, cmd update: 0.148544 deg/s, cmd heading: 223.897917 deg, new cmd heading: 223.708265 deg. 2021-08-13T13:38:54.465Z,1628861934.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:54.821Z,1628861934.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:54.821Z,1628861934.821 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:54.821Z,1628861934.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:54.822Z,1628861934.822 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:55.233Z,1628861935.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 032,000,005D1,184,80,80,68,FF 2021-08-13T13:38:55.233Z,1628861935.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:55.234Z,1628861935.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:55.235Z,1628861935.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:38:55.644Z,1628861935.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:38:56.074Z,1628861936.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,005A9,184,80,80,93,FF 2021-08-13T13:38:56.075Z,1628861936.075 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:38:56.461Z,1628861936.461 [Micromodem](INFO): Nmea in: $SNTTA,0.338860,0.338860,,,133856.76*55 2021-08-13T13:38:56.483Z,1628861936.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.439995 m, bearing: 230.304417 deg, deltaT: 4.555959 s, approachRate: -0.526785 m/s, LOS rate: 0.241074 deg/s, posRepo size: 4 2021-08-13T13:38:56.486Z,1628861936.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.439995 m, bearing: 230.304417 deg, approachRate: -0.526785 m/s, LOS rate: 0.241074 deg/s, cmd update: 0.723221 deg/s, cmd heading: 224.574680 deg, new cmd heading: 224.617015 deg. 2021-08-13T13:38:58.933Z,1628861938.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:38:59.269Z,1628861939.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:38:59.269Z,1628861939.269 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:38:59.270Z,1628861939.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:38:59.270Z,1628861939.270 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:38:59.679Z,1628861939.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,005A9,184,80,80,93,FF 2021-08-13T13:38:59.679Z,1628861939.679 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:38:59.680Z,1628861939.680 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:38:59.682Z,1628861939.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:00.115Z,1628861940.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:00.481Z,1628861940.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00581,184,80,80,93,FF 2021-08-13T13:39:00.481Z,1628861940.481 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:00.925Z,1628861940.925 [Micromodem](INFO): Nmea in: $SNTTA,0.042008,,,,133901.20*45 2021-08-13T13:39:00.960Z,1628861940.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 230.005036 deg, deltaT: 4.295977 s, approachRate: -0.558661 m/s, LOS rate: -0.069689 deg/s, posRepo size: 4 2021-08-13T13:39:00.962Z,1628861940.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.040001 m, bearing: 230.005036 deg, approachRate: -0.558661 m/s, LOS rate: -0.069689 deg/s, cmd update: -0.209066 deg/s, cmd heading: 227.684555 deg, new cmd heading: 228.018229 deg. 2021-08-13T13:39:03.323Z,1628861943.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:03.728Z,1628861943.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:03.729Z,1628861943.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:03.729Z,1628861943.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:03.731Z,1628861943.731 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:04.117Z,1628861944.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01B,000,00581,184,80,80,93,FF 2021-08-13T13:39:04.117Z,1628861944.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:04.117Z,1628861944.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:04.119Z,1628861944.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:04.529Z,1628861944.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:04.929Z,1628861944.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0055B,186,80,80,6B,FF 2021-08-13T13:39:04.929Z,1628861944.929 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:05.365Z,1628861945.365 [Micromodem](INFO): Nmea in: $SNTTA,0.040349,,,,133905.64*45 2021-08-13T13:39:05.381Z,1628861945.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 228.657849 deg, deltaT: 4.507177 s, approachRate: -0.505860 m/s, LOS rate: -0.298898 deg/s, posRepo size: 4 2021-08-13T13:39:05.383Z,1628861945.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.759998 m, bearing: 228.657849 deg, approachRate: -0.505860 m/s, LOS rate: -0.298898 deg/s, cmd update: -0.896694 deg/s, cmd heading: 226.743124 deg, new cmd heading: 226.663883 deg. 2021-08-13T13:39:07.818Z,1628861947.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:08.164Z,1628861948.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:08.164Z,1628861948.164 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:08.164Z,1628861948.164 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:08.165Z,1628861948.165 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:08.557Z,1628861948.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05B,000,0055B,186,80,80,6B,FF 2021-08-13T13:39:08.557Z,1628861948.557 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:08.558Z,1628861948.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:08.559Z,1628861948.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:08.965Z,1628861948.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:09.373Z,1628861949.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00536,187,80,80,AE,FF 2021-08-13T13:39:09.374Z,1628861949.374 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:09.809Z,1628861949.809 [Micromodem](INFO): Nmea in: $SNTTA,0.044934,,,,133910.08*4F 2021-08-13T13:39:09.835Z,1628861949.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 227.109063 deg, deltaT: 4.384636 s, approachRate: -0.506313 m/s, LOS rate: -0.353230 deg/s, posRepo size: 4 2021-08-13T13:39:09.857Z,1628861949.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.540001 m, bearing: 227.109063 deg, approachRate: -0.506313 m/s, LOS rate: -0.353230 deg/s, cmd update: -1.059691 deg/s, cmd heading: 222.807775 deg, new cmd heading: 222.408944 deg. 2021-08-13T13:39:12.231Z,1628861952.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:12.597Z,1628861952.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:12.597Z,1628861952.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:12.597Z,1628861952.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:12.598Z,1628861952.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:13.009Z,1628861953.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06F,000,00536,187,80,80,AE,FF 2021-08-13T13:39:13.009Z,1628861953.009 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:13.009Z,1628861953.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:13.011Z,1628861953.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:13.416Z,1628861953.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:13.809Z,1628861953.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0050F,183,80,80,AE,FF 2021-08-13T13:39:13.809Z,1628861953.809 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:14.253Z,1628861954.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133914.54*52 2021-08-13T13:39:14.312Z,1628861954.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.200001 m, bearing: 228.298472 deg, deltaT: 4.471009 s, approachRate: -0.523372 m/s, LOS rate: 0.266027 deg/s, posRepo size: 4 2021-08-13T13:39:14.318Z,1628861954.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.200001 m, bearing: 228.298472 deg, approachRate: -0.523372 m/s, LOS rate: 0.266027 deg/s, cmd update: 0.798081 deg/s, cmd heading: 218.070382 deg, new cmd heading: 217.596732 deg. 2021-08-13T13:39:16.665Z,1628861956.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:17.049Z,1628861957.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:17.049Z,1628861957.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:17.049Z,1628861957.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:17.050Z,1628861957.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:17.449Z,1628861957.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 011,000,0050F,183,80,80,AE,FF 2021-08-13T13:39:17.449Z,1628861957.449 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:17.449Z,1628861957.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:17.451Z,1628861957.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:17.861Z,1628861957.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:18.253Z,1628861958.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,004E9,184,80,80,9F,FF 2021-08-13T13:39:18.253Z,1628861958.253 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:18.713Z,1628861958.713 [Micromodem](INFO): Nmea in: $SNTTA,0.043614,,,,133918.98*44 2021-08-13T13:39:18.763Z,1628861958.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 230.073911 deg, deltaT: 4.450420 s, approachRate: -0.512311 m/s, LOS rate: 0.398937 deg/s, posRepo size: 4 2021-08-13T13:39:18.773Z,1628861958.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m. 2021-08-13T13:39:18.775Z,1628861958.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.920002 m, bearing: 230.073911 deg, approachRate: -0.512311 m/s, LOS rate: 0.398937 deg/s, cmd update: 1.196812 deg/s, cmd heading: 221.622354 deg, new cmd heading: 221.967715 deg. 2021-08-13T13:39:19.103Z,1628861959.103 [PowerOnly](INFO): Powering up loadControl 2021-08-13T13:39:19.145Z,1628861959.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T13:39:19.145Z,1628861959.145 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:39:19.146Z,1628861959.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T13:39:19.146Z,1628861959.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T13:39:19.146Z,1628861959.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T13:39:19.147Z,1628861959.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T13:39:19.533Z,1628861959.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T13:39:19.533Z,1628861959.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:39:19.533Z,1628861959.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T13:39:19.534Z,1628861959.534 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T13:39:21.115Z,1628861961.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:21.485Z,1628861961.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:21.485Z,1628861961.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:21.485Z,1628861961.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:21.486Z,1628861961.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:21.898Z,1628861961.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAE,000,004E9,184,80,80,9F,FF 2021-08-13T13:39:21.898Z,1628861961.898 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:21.898Z,1628861961.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:21.901Z,1628861961.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:22.301Z,1628861962.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:22.700Z,1628861962.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,004C9,183,80,80,72,FF 2021-08-13T13:39:22.702Z,1628861962.702 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:22.769Z,1628861962.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:23.137Z,1628861963.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133923.43*50 2021-08-13T13:39:23.186Z,1628861963.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 227.914574 deg, deltaT: 4.454681 s, approachRate: -0.431009 m/s, LOS rate: -0.484734 deg/s, posRepo size: 4 2021-08-13T13:39:23.186Z,1628861963.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m. 2021-08-13T13:39:23.189Z,1628861963.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.999996 m, bearing: 227.914574 deg, approachRate: -0.431009 m/s, LOS rate: -0.484734 deg/s, cmd update: -1.454203 deg/s, cmd heading: 226.941248 deg, new cmd heading: 227.456075 deg. 2021-08-13T13:39:25.572Z,1628861965.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:25.945Z,1628861965.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:25.945Z,1628861965.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:25.945Z,1628861965.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:25.946Z,1628861965.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:26.364Z,1628861966.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFB,000,004C9,183,80,80,72,FF 2021-08-13T13:39:26.364Z,1628861966.364 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:26.364Z,1628861966.364 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:26.366Z,1628861966.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:26.772Z,1628861966.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:27.141Z,1628861967.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0049F,183,80,80,A4,FF 2021-08-13T13:39:27.141Z,1628861967.141 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:27.227Z,1628861967.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:27.581Z,1628861967.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133927.89*52 2021-08-13T13:39:27.600Z,1628861967.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 227.140782 deg, deltaT: 4.462504 s, approachRate: -0.564705 m/s, LOS rate: -0.173399 deg/s, posRepo size: 4 2021-08-13T13:39:27.601Z,1628861967.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.48 m. 2021-08-13T13:39:27.603Z,1628861967.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.480000 m, bearing: 227.140782 deg, approachRate: -0.564705 m/s, LOS rate: -0.173399 deg/s, cmd update: -0.520196 deg/s, cmd heading: 220.449650 deg, new cmd heading: 219.896842 deg. 2021-08-13T13:39:30.078Z,1628861970.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:30.381Z,1628861970.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:30.381Z,1628861970.381 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:30.381Z,1628861970.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:30.382Z,1628861970.382 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:30.793Z,1628861970.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 051,000,0049F,183,80,80,A4,FF 2021-08-13T13:39:30.793Z,1628861970.793 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:30.794Z,1628861970.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:30.795Z,1628861970.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:31.202Z,1628861971.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:31.601Z,1628861971.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00480,183,80,80,B2,FF 2021-08-13T13:39:31.601Z,1628861971.601 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:31.668Z,1628861971.668 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:32.045Z,1628861972.045 [Micromodem](INFO): Nmea in: $SNTTA,0.051282,,,,133932.32*44 2021-08-13T13:39:32.125Z,1628861972.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 226.096638 deg, deltaT: 4.436372 s, approachRate: -0.419261 m/s, LOS rate: -0.235360 deg/s, posRepo size: 4 2021-08-13T13:39:32.126Z,1628861972.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.62 m. 2021-08-13T13:39:32.129Z,1628861972.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.620001 m, bearing: 226.096638 deg, approachRate: -0.419261 m/s, LOS rate: -0.235360 deg/s, cmd update: -0.706080 deg/s, cmd heading: 218.141964 deg, new cmd heading: 217.897888 deg. 2021-08-13T13:39:34.431Z,1628861974.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:34.825Z,1628861974.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:34.826Z,1628861974.826 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:34.826Z,1628861974.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:34.827Z,1628861974.827 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:35.221Z,1628861975.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 008,000,00480,183,80,80,B2,FF 2021-08-13T13:39:35.221Z,1628861975.221 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:35.221Z,1628861975.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:35.223Z,1628861975.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:35.641Z,1628861975.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:36.075Z,1628861976.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0045D,183,80,80,9F,FF 2021-08-13T13:39:36.075Z,1628861976.075 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:36.156Z,1628861976.156 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:36.501Z,1628861976.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133936.75*51 2021-08-13T13:39:36.524Z,1628861976.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 225.376517 deg, deltaT: 4.488468 s, approachRate: -0.467866 m/s, LOS rate: -0.160438 deg/s, posRepo size: 4 2021-08-13T13:39:36.524Z,1628861976.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.52 m. 2021-08-13T13:39:36.525Z,1628861976.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.52 m. 2021-08-13T13:39:36.525Z,1628861976.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T13:39:36.527Z,1628861976.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.519999 m, bearing: 225.376517 deg, approachRate: -0.467866 m/s, LOS rate: -0.160438 deg/s, cmd update: -0.481314 deg/s, cmd heading: 214.973524 deg, new cmd heading: 214.704858 deg. 2021-08-13T13:39:38.920Z,1628861978.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:39.254Z,1628861979.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:39.254Z,1628861979.254 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:39.255Z,1628861979.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:39.256Z,1628861979.256 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:39.689Z,1628861979.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEE,000,0045D,183,80,80,9F,FF 2021-08-13T13:39:39.689Z,1628861979.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:39.690Z,1628861979.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:39.697Z,1628861979.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:40.131Z,1628861980.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:40.478Z,1628861980.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,0043A,187,80,80,AC,FF 2021-08-13T13:39:40.478Z,1628861980.478 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:40.535Z,1628861980.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:40.907Z,1628861980.907 [Micromodem](INFO): Nmea in: $SNTTA,0.033483,,,,133941.22*42 2021-08-13T13:39:40.933Z,1628861980.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.420002 m, bearing: 225.961058 deg, deltaT: 4.383297 s, approachRate: -0.479091 m/s, LOS rate: 0.133357 deg/s, posRepo size: 4 2021-08-13T13:39:40.935Z,1628861980.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.420002 m, bearing: 225.961058 deg, approachRate: -0.479091 m/s, LOS rate: 0.133357 deg/s, cmd update: 0.400070 deg/s, cmd heading: 212.862851 deg, new cmd heading: 212.668178 deg. 2021-08-13T13:39:43.319Z,1628861983.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:43.717Z,1628861983.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:43.718Z,1628861983.718 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:43.718Z,1628861983.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:43.721Z,1628861983.721 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:44.121Z,1628861984.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F69,000,0043A,187,80,80,AC,FF 2021-08-13T13:39:44.121Z,1628861984.121 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:44.121Z,1628861984.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:44.123Z,1628861984.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:44.519Z,1628861984.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:44.929Z,1628861984.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,00416,186,80,80,77,FF 2021-08-13T13:39:44.929Z,1628861984.929 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:44.985Z,1628861984.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:45.370Z,1628861985.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133945.65*54 2021-08-13T13:39:45.396Z,1628861985.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 229.895507 deg, deltaT: 4.445643 s, approachRate: -0.485870 m/s, LOS rate: 0.885012 deg/s, posRepo size: 4 2021-08-13T13:39:45.398Z,1628861985.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.259996 m, bearing: 229.895507 deg, approachRate: -0.485870 m/s, LOS rate: 0.885012 deg/s, cmd update: 2.655037 deg/s, cmd heading: 214.644670 deg, new cmd heading: 214.810161 deg. 2021-08-13T13:39:47.825Z,1628861987.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:48.157Z,1628861988.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:48.157Z,1628861988.157 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:48.157Z,1628861988.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:48.157Z,1628861988.157 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:48.553Z,1628861988.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EF8,000,00416,186,80,80,77,FF 2021-08-13T13:39:48.553Z,1628861988.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:48.553Z,1628861988.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:48.555Z,1628861988.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:48.969Z,1628861988.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:49.369Z,1628861989.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,003F6,186,80,80,9B,FF 2021-08-13T13:39:49.370Z,1628861989.370 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:49.447Z,1628861989.447 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:49.806Z,1628861989.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133950.08*5B 2021-08-13T13:39:49.833Z,1628861989.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 228.181963 deg, deltaT: 4.466279 s, approachRate: -0.429888 m/s, LOS rate: -0.383663 deg/s, posRepo size: 4 2021-08-13T13:39:49.835Z,1628861989.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.339998 m, bearing: 228.181963 deg, approachRate: -0.429888 m/s, LOS rate: -0.383663 deg/s, cmd update: -1.150988 deg/s, cmd heading: 226.481062 deg, new cmd heading: 227.522078 deg. 2021-08-13T13:39:52.242Z,1628861992.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:52.593Z,1628861992.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:52.593Z,1628861992.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:52.593Z,1628861992.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:52.594Z,1628861992.594 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:53.025Z,1628861993.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5F,000,003F6,186,80,80,9B,FF 2021-08-13T13:39:53.025Z,1628861993.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:53.026Z,1628861993.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:53.027Z,1628861993.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:53.404Z,1628861993.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:53.805Z,1628861993.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,003D1,185,80,80,7F,FF 2021-08-13T13:39:53.805Z,1628861993.805 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:53.931Z,1628861993.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:54.233Z,1628861994.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133954.55*57 2021-08-13T13:39:54.301Z,1628861994.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 227.846696 deg, deltaT: 4.479484 s, approachRate: -0.495592 m/s, LOS rate: -0.074845 deg/s, posRepo size: 4 2021-08-13T13:39:54.305Z,1628861994.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.120001 m, bearing: 227.846696 deg, approachRate: -0.495592 m/s, LOS rate: -0.074845 deg/s, cmd update: -0.224535 deg/s, cmd heading: 221.333342 deg, new cmd heading: 220.887330 deg. 2021-08-13T13:39:56.655Z,1628861996.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:39:57.045Z,1628861997.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:39:57.045Z,1628861997.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:39:57.045Z,1628861997.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:39:57.046Z,1628861997.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:39:57.437Z,1628861997.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02C,000,003D1,185,80,80,7F,FF 2021-08-13T13:39:57.438Z,1628861997.438 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:39:57.438Z,1628861997.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:39:57.440Z,1628861997.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:39:57.849Z,1628861997.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:39:58.249Z,1628861998.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,003BB,187,80,80,64,FF 2021-08-13T13:39:58.249Z,1628861998.249 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:39:58.332Z,1628861998.332 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:39:58.701Z,1628861998.701 [Micromodem](INFO): Nmea in: $SNTTA,0.030686,,,,133958.97*40 2021-08-13T13:39:58.774Z,1628861998.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 231.582154 deg, deltaT: 4.401624 s, approachRate: -0.299890 m/s, LOS rate: 0.848654 deg/s, posRepo size: 4 2021-08-13T13:39:58.781Z,1628861998.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.799997 m, bearing: 231.582154 deg, approachRate: -0.299890 m/s, LOS rate: 0.848654 deg/s, cmd update: 2.545963 deg/s, cmd heading: 220.345429 deg, new cmd heading: 220.242201 deg. 2021-08-13T13:40:01.113Z,1628862001.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:01.481Z,1628862001.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:01.481Z,1628862001.481 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:01.481Z,1628862001.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:01.482Z,1628862001.482 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:01.886Z,1628862001.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9A,000,003BB,187,80,80,64,FF 2021-08-13T13:40:01.886Z,1628862001.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:01.887Z,1628862001.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:01.889Z,1628862001.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:02.289Z,1628862002.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:02.697Z,1628862002.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00391,186,80,80,A4,FF 2021-08-13T13:40:02.698Z,1628862002.698 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:02.788Z,1628862002.788 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:03.138Z,1628862003.138 [Micromodem](INFO): Nmea in: $SNTTA,0.040890,,,,134003.41*45 2021-08-13T13:40:03.158Z,1628862003.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 233.823904 deg, deltaT: 4.455229 s, approachRate: -0.565627 m/s, LOS rate: 0.503173 deg/s, posRepo size: 4 2021-08-13T13:40:03.161Z,1628862003.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.280001 m, bearing: 233.823904 deg, approachRate: -0.565627 m/s, LOS rate: 0.503173 deg/s, cmd update: 1.509518 deg/s, cmd heading: 231.721129 deg, new cmd heading: 232.682072 deg. 2021-08-13T13:40:05.559Z,1628862005.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:05.957Z,1628862005.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:05.957Z,1628862005.957 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:05.957Z,1628862005.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:05.958Z,1628862005.958 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:06.350Z,1628862006.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3F,000,00391,186,80,80,A4,FF 2021-08-13T13:40:06.350Z,1628862006.350 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:06.350Z,1628862006.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:06.351Z,1628862006.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:06.784Z,1628862006.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:07.161Z,1628862007.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,0036D,186,80,80,A8,FF 2021-08-13T13:40:07.161Z,1628862007.161 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:07.210Z,1628862007.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:07.593Z,1628862007.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134007.88*5F 2021-08-13T13:40:07.630Z,1628862007.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 236.043278 deg, deltaT: 4.421965 s, approachRate: -0.488471 m/s, LOS rate: 0.501898 deg/s, posRepo size: 4 2021-08-13T13:40:07.632Z,1628862007.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.120001 m, bearing: 236.043278 deg, approachRate: -0.488471 m/s, LOS rate: 0.501898 deg/s, cmd update: 1.505693 deg/s, cmd heading: 238.366244 deg, new cmd heading: 239.041136 deg. 2021-08-13T13:40:10.083Z,1628862010.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:10.389Z,1628862010.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:10.389Z,1628862010.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:10.389Z,1628862010.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:10.390Z,1628862010.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:10.797Z,1628862010.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05D,000,0036D,186,80,80,A8,FF 2021-08-13T13:40:10.797Z,1628862010.797 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:10.797Z,1628862010.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:10.799Z,1628862010.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:11.217Z,1628862011.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:11.601Z,1628862011.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,00346,186,80,80,8B,FF 2021-08-13T13:40:11.601Z,1628862011.601 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:11.647Z,1628862011.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:12.069Z,1628862012.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134012.32*5A 2021-08-13T13:40:12.170Z,1628862012.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 231.069480 deg, deltaT: 4.437079 s, approachRate: -0.527375 m/s, LOS rate: -1.120962 deg/s, posRepo size: 4 2021-08-13T13:40:12.176Z,1628862012.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.779997 m, bearing: 231.069480 deg, approachRate: -0.527375 m/s, LOS rate: -1.120962 deg/s, cmd update: -3.362887 deg/s, cmd heading: 245.081722 deg, new cmd heading: 245.865108 deg. 2021-08-13T13:40:14.456Z,1628862014.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:14.841Z,1628862014.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:14.841Z,1628862014.841 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:14.841Z,1628862014.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:14.842Z,1628862014.842 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:14.895Z,1628862014.895 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:40:15.245Z,1628862015.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 12B,000,00346,186,80,80,8B,FF 2021-08-13T13:40:15.245Z,1628862015.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:15.245Z,1628862015.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:15.247Z,1628862015.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:15.641Z,1628862015.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:16.093Z,1628862016.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,00329,186,80,80,91,FF 2021-08-13T13:40:16.094Z,1628862016.094 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:16.097Z,1628862016.097 [Micromodem](INFO): Nmea in: $SNTTA,0.291432,0.291370,,,134016.77*5E 2021-08-13T13:40:16.204Z,1628862016.204 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:16.495Z,1628862016.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 228.471440 deg, deltaT: 4.557832 s, approachRate: -0.381760 m/s, LOS rate: -0.570017 deg/s, posRepo size: 4 2021-08-13T13:40:16.498Z,1628862016.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.039997 m, bearing: 228.471440 deg, approachRate: -0.381760 m/s, LOS rate: -0.570017 deg/s, cmd update: -1.710050 deg/s, cmd heading: 229.784235 deg, new cmd heading: 228.763021 deg. 2021-08-13T13:40:18.927Z,1628862018.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:19.283Z,1628862019.283 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:19.283Z,1628862019.283 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:19.283Z,1628862019.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:19.284Z,1628862019.284 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:19.727Z,1628862019.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 145,000,00329,186,80,80,91,FF 2021-08-13T13:40:19.727Z,1628862019.727 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:19.728Z,1628862019.728 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:19.736Z,1628862019.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:19.774Z,1628862019.774 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:40:20.120Z,1628862020.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:20.490Z,1628862020.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00304,183,80,80,C7,FF 2021-08-13T13:40:20.490Z,1628862020.490 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:20.515Z,1628862020.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:20.907Z,1628862020.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134021.26*5F 2021-08-13T13:40:20.959Z,1628862020.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 229.550910 deg, deltaT: 4.309776 s, approachRate: -0.515107 m/s, LOS rate: 0.250470 deg/s, posRepo size: 4 2021-08-13T13:40:20.962Z,1628862020.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.820000 m, bearing: 229.550910 deg, approachRate: -0.515107 m/s, LOS rate: 0.250470 deg/s, cmd update: 0.751411 deg/s, cmd heading: 222.397170 deg, new cmd heading: 221.631342 deg. 2021-08-13T13:40:23.355Z,1628862023.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:23.741Z,1628862023.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:23.741Z,1628862023.741 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:23.741Z,1628862023.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:23.742Z,1628862023.742 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:24.129Z,1628862024.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 00E,000,00304,183,80,80,C7,FF 2021-08-13T13:40:24.129Z,1628862024.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:24.129Z,1628862024.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:24.131Z,1628862024.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:24.533Z,1628862024.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:24.953Z,1628862024.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,002E7,184,80,80,BE,FF 2021-08-13T13:40:24.953Z,1628862024.953 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:24.962Z,1628862024.962 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:40:25.006Z,1628862025.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:25.381Z,1628862025.381 [Micromodem](INFO): Nmea in: $SNTTA,0.025410,,,,134025.65*40 2021-08-13T13:40:25.412Z,1628862025.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 226.423995 deg, deltaT: 4.491128 s, approachRate: -0.387430 m/s, LOS rate: -0.696243 deg/s, posRepo size: 4 2021-08-13T13:40:25.414Z,1628862025.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.080001 m, bearing: 226.423995 deg, approachRate: -0.387430 m/s, LOS rate: -0.696243 deg/s, cmd update: -2.088728 deg/s, cmd heading: 225.768769 deg, new cmd heading: 226.079550 deg. 2021-08-13T13:40:27.817Z,1628862027.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:28.170Z,1628862028.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:28.170Z,1628862028.170 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:28.170Z,1628862028.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:28.171Z,1628862028.171 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:28.573Z,1628862028.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD8,000,002E7,184,80,80,BE,FF 2021-08-13T13:40:28.573Z,1628862028.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:28.573Z,1628862028.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:28.575Z,1628862028.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:28.991Z,1628862028.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:29.377Z,1628862029.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,002CB,186,80,80,A8,FF 2021-08-13T13:40:29.377Z,1628862029.377 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:29.398Z,1628862029.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:29.826Z,1628862029.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134030.10*5A 2021-08-13T13:40:29.832Z,1628862029.832 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:40:29.845Z,1628862029.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 221.993483 deg, deltaT: 4.391987 s, approachRate: -0.382515 m/s, LOS rate: -1.008772 deg/s, posRepo size: 4 2021-08-13T13:40:29.847Z,1628862029.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.399999 m, bearing: 221.993483 deg, approachRate: -0.382515 m/s, LOS rate: -1.008772 deg/s, cmd update: -3.026315 deg/s, cmd heading: 216.586616 deg, new cmd heading: 215.646362 deg. 2021-08-13T13:40:31.020Z,1628862031.020 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T13:40:32.267Z,1628862032.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:32.614Z,1628862032.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:32.615Z,1628862032.615 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:32.615Z,1628862032.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:32.617Z,1628862032.617 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:33.013Z,1628862033.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 081,000,002CB,186,80,80,A8,FF 2021-08-13T13:40:33.013Z,1628862033.013 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:33.013Z,1628862033.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:33.015Z,1628862033.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:33.421Z,1628862033.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:33.825Z,1628862033.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,002BE,186,80,80,AB,FF 2021-08-13T13:40:33.825Z,1628862033.825 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:33.931Z,1628862033.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:34.257Z,1628862034.257 [Micromodem](INFO): Nmea in: $SNTTA,0.028924,,,,134034.54*45 2021-08-13T13:40:34.317Z,1628862034.317 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-08-13T13:40:34.317Z,1628862034.317 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-08-13T13:40:34.318Z,1628862034.318 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-08-13T13:40:34.318Z,1628862034.318 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T13:40:34.318Z,1628862034.318 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-08-13T13:40:34.318Z,1628862034.318 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-08-13T13:40:34.319Z,1628862034.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-08-13T13:40:34.319Z,1628862034.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-08-13T13:40:34.319Z,1628862034.319 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-08-13T13:40:34.338Z,1628862034.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 194.070031 deg, deltaT: 4.532909 s, approachRate: -0.172075 m/s, LOS rate: -6.160162 deg/s, posRepo size: 4 2021-08-13T13:40:34.344Z,1628862034.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 194.070031 deg, approachRate: -0.172075 m/s, LOS rate: -6.160162 deg/s, cmd update: -12.000000 deg/s, cmd heading: 202.882785 deg, new cmd heading: 201.627836 deg. 2021-08-13T13:40:34.668Z,1628862034.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T134034: (41.552319, -70.708603) 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-08-13T13:40:34.669Z,1628862034.669 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-08-13T13:40:35.058Z,1628862035.058 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:40:36.667Z,1628862036.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:37.061Z,1628862037.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:37.061Z,1628862037.061 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:37.062Z,1628862037.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:37.062Z,1628862037.062 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:37.457Z,1628862037.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B8,000,002BE,186,80,80,AB,FF 2021-08-13T13:40:37.457Z,1628862037.457 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:37.457Z,1628862037.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:37.459Z,1628862037.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:37.881Z,1628862037.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:38.261Z,1628862038.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,002C1,187,80,80,5B,FF 2021-08-13T13:40:38.262Z,1628862038.262 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:38.358Z,1628862038.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:38.717Z,1628862038.717 [Micromodem](INFO): Nmea in: $SNTTA,0.020209,,,,134038.99*44 2021-08-13T13:40:38.769Z,1628862038.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 206.432045 deg, deltaT: 4.427572 s, approachRate: 0.040655 m/s, LOS rate: 2.792053 deg/s, posRepo size: 4 2021-08-13T13:40:38.771Z,1628862038.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.800000 m, bearing: 206.432045 deg, approachRate: 0.040655 m/s, LOS rate: 2.792053 deg/s, cmd update: 8.376158 deg/s, cmd heading: 149.747096 deg, new cmd heading: 144.733784 deg. 2021-08-13T13:40:39.911Z,1628862039.911 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-08-13T13:40:41.111Z,1628862041.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:41.505Z,1628862041.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:41.505Z,1628862041.505 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:41.505Z,1628862041.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:41.506Z,1628862041.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:41.909Z,1628862041.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F64,000,002C1,187,80,80,5B,FF 2021-08-13T13:40:41.909Z,1628862041.909 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:41.910Z,1628862041.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:41.911Z,1628862041.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:42.328Z,1628862042.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:42.740Z,1628862042.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,002D8,184,80,80,98,FF 2021-08-13T13:40:42.741Z,1628862042.741 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:42.771Z,1628862042.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:43.154Z,1628862043.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134043.44*5F 2021-08-13T13:40:43.175Z,1628862043.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.179999 m, bearing: 178.318330 deg, deltaT: 4.413198 s, approachRate: 0.312698 m/s, LOS rate: -6.370372 deg/s, posRepo size: 4 2021-08-13T13:40:43.178Z,1628862043.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.179999 m, bearing: 178.318330 deg, approachRate: 0.312698 m/s, LOS rate: -6.370372 deg/s, cmd update: -12.000000 deg/s, cmd heading: 186.747191 deg, new cmd heading: 190.158792 deg. 2021-08-13T13:40:44.796Z,1628862044.796 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T13:40:45.566Z,1628862045.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:45.945Z,1628862045.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:45.945Z,1628862045.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:45.945Z,1628862045.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:45.946Z,1628862045.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:46.387Z,1628862046.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02C,000,002D8,184,80,80,98,FF 2021-08-13T13:40:46.387Z,1628862046.387 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:46.387Z,1628862046.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:46.389Z,1628862046.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:46.784Z,1628862046.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:47.153Z,1628862047.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,002F9,187,80,80,38,FF 2021-08-13T13:40:47.153Z,1628862047.153 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:47.241Z,1628862047.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:47.575Z,1628862047.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134047.91*53 2021-08-13T13:40:47.618Z,1628862047.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 182.384670 deg, deltaT: 4.469502 s, approachRate: 0.443003 m/s, LOS rate: 0.909797 deg/s, posRepo size: 4 2021-08-13T13:40:47.620Z,1628862047.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.160001 m, bearing: 182.384670 deg, approachRate: 0.443003 m/s, LOS rate: 0.909797 deg/s, cmd update: 2.729391 deg/s, cmd heading: 133.113418 deg, new cmd heading: 128.551390 deg. 2021-08-13T13:40:49.997Z,1628862049.997 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:40:50.074Z,1628862050.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:50.405Z,1628862050.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:50.405Z,1628862050.405 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:50.405Z,1628862050.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:50.406Z,1628862050.406 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:50.789Z,1628862050.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4F,000,002F9,187,80,80,38,FF 2021-08-13T13:40:50.789Z,1628862050.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:50.789Z,1628862050.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:50.791Z,1628862050.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:51.205Z,1628862051.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:51.606Z,1628862051.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,033,000,0033D,184,80,80,77,FF 2021-08-13T13:40:51.606Z,1628862051.606 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:51.627Z,1628862051.627 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:52.066Z,1628862052.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134052.32*5E 2021-08-13T13:40:52.122Z,1628862052.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 174.247196 deg, deltaT: 4.385960 s, approachRate: 0.930241 m/s, LOS rate: -1.855346 deg/s, posRepo size: 4 2021-08-13T13:40:52.136Z,1628862052.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.240001 m, bearing: 174.247196 deg, approachRate: 0.930241 m/s, LOS rate: -1.855346 deg/s, cmd update: -5.566039 deg/s, cmd heading: 145.083279 deg, new cmd heading: 146.443515 deg. 2021-08-13T13:40:53.646Z,1628862053.646 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:40:54.055Z,1628862054.055 [PowerOnly](FAULT): loadControl LCB fault: Current Limiter Activated. 2021-08-13T13:40:54.055Z,1628862054.055 [PowerOnly] Hardware Fault, FailCount= 1 2021-08-13T13:40:54.055Z,1628862054.055 [PowerOnly](ERROR): Hardware Fault 2021-08-13T13:40:54.140Z,1628862054.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:54.248Z,1628862054.248 [CBIT](ERROR): Hardware Fault in component: PowerOnly 2021-08-13T13:40:54.433Z,1628862054.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:54.433Z,1628862054.433 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:54.433Z,1628862054.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:54.434Z,1628862054.434 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:54.444Z,1628862054.444 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:40:54.833Z,1628862054.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 033,000,0033D,184,80,80,77,FF 2021-08-13T13:40:54.833Z,1628862054.833 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:54.833Z,1628862054.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:54.835Z,1628862054.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:55.245Z,1628862055.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:55.392Z,1628862055.392 [CBIT](INFO): Clearing failed state for component PowerOnly 2021-08-13T13:40:55.392Z,1628862055.392 [PowerOnly] No Fault, FailCount= 1 2021-08-13T13:40:55.642Z,1628862055.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00344,184,80,80,72,FF 2021-08-13T13:40:55.642Z,1628862055.642 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:55.666Z,1628862055.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:40:56.158Z,1628862056.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 163.342499 deg, deltaT: 4.039621 s, approachRate: 0.103970 m/s, LOS rate: -2.699436 deg/s, posRepo size: 4 2021-08-13T13:40:56.165Z,1628862056.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.660002 m, bearing: 163.342499 deg, approachRate: 0.103970 m/s, LOS rate: -2.699436 deg/s, cmd update: -8.098308 deg/s, cmd heading: 122.595760 deg, new cmd heading: 119.840120 deg. 2021-08-13T13:40:56.889Z,1628862056.889 [PowerOnly](INFO): Powering down loadControl 2021-08-13T13:40:58.172Z,1628862058.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:40:58.473Z,1628862058.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:40:58.473Z,1628862058.473 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:40:58.473Z,1628862058.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:40:58.474Z,1628862058.474 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:40:58.883Z,1628862058.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB6,000,00344,184,80,80,72,FF 2021-08-13T13:40:58.883Z,1628862058.883 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:40:58.883Z,1628862058.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:40:58.886Z,1628862058.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:40:59.284Z,1628862059.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:40:59.681Z,1628862059.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00364,186,80,80,63,FF 2021-08-13T13:40:59.682Z,1628862059.682 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:40:59.762Z,1628862059.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:00.134Z,1628862060.134 [Micromodem](INFO): Nmea in: $SNTTA,0.038589,,,,134100.41*4D 2021-08-13T13:41:00.163Z,1628862060.163 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T13:41:00.196Z,1628862060.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 159.624513 deg, deltaT: 4.095247 s, approachRate: 0.468836 m/s, LOS rate: -0.907878 deg/s, posRepo size: 4 2021-08-13T13:41:00.198Z,1628862060.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.579999 m, bearing: 159.624513 deg, approachRate: 0.468836 m/s, LOS rate: -0.907878 deg/s, cmd update: -2.723635 deg/s, cmd heading: 89.463923 deg, new cmd heading: 86.053029 deg. 2021-08-13T13:41:02.547Z,1628862062.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:02.925Z,1628862062.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:02.925Z,1628862062.925 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:02.925Z,1628862062.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:02.926Z,1628862062.926 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:03.329Z,1628862063.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC2,000,00364,186,80,80,63,FF 2021-08-13T13:41:03.329Z,1628862063.329 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:03.329Z,1628862063.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:03.331Z,1628862063.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:03.745Z,1628862063.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:04.137Z,1628862064.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,00395,188,80,80,50,FF 2021-08-13T13:41:04.137Z,1628862064.137 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:04.221Z,1628862064.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:04.561Z,1628862064.561 [Micromodem](INFO): Nmea in: $SNTTA,0.033160,,,,134104.86*4A 2021-08-13T13:41:04.593Z,1628862064.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 103.769459 deg, deltaT: 4.459554 s, approachRate: 0.659259 m/s, LOS rate: -12.524807 deg/s, posRepo size: 4 2021-08-13T13:41:04.593Z,1628862064.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.524807 deg/s. Setting heading cmd to target bearing of 103.769459deg and heading rate command to 0 deg/s. 2021-08-13T13:41:07.002Z,1628862067.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:07.370Z,1628862067.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:07.370Z,1628862067.370 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:07.370Z,1628862067.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:07.371Z,1628862067.371 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:07.769Z,1628862067.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1E2,000,00395,188,80,80,50,FF 2021-08-13T13:41:07.769Z,1628862067.769 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:07.769Z,1628862067.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:07.771Z,1628862067.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:08.187Z,1628862068.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:08.569Z,1628862068.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,003B1,189,80,80,BE,FF 2021-08-13T13:41:08.569Z,1628862068.569 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:08.618Z,1628862068.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:09.021Z,1628862069.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134109.30*53 2021-08-13T13:41:09.052Z,1628862069.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 82.065932 deg, deltaT: 4.396414 s, approachRate: 0.382129 m/s, LOS rate: -4.936643 deg/s, posRepo size: 4 2021-08-13T13:41:09.054Z,1628862069.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.199999 m, bearing: 82.065932 deg, approachRate: 0.382129 m/s, LOS rate: -4.936643 deg/s, cmd update: -12.000000 deg/s, cmd heading: 103.769459 deg, new cmd heading: 103.769459 deg. 2021-08-13T13:41:11.466Z,1628862071.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:11.797Z,1628862071.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:11.797Z,1628862071.797 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:11.797Z,1628862071.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:11.798Z,1628862071.798 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:12.206Z,1628862072.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 256,000,003B1,189,80,80,BE,FF 2021-08-13T13:41:12.206Z,1628862072.206 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:12.207Z,1628862072.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:12.210Z,1628862072.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:12.621Z,1628862072.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:13.014Z,1628862073.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,357,000,003D1,189,80,80,76,FF 2021-08-13T13:41:13.015Z,1628862073.015 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:13.093Z,1628862073.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:13.464Z,1628862073.464 [Micromodem](INFO): Nmea in: $SNTTA,0.420174,,,,134113.74*42 2021-08-13T13:41:13.479Z,1628862073.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 61.345242 deg, deltaT: 4.474887 s, approachRate: 0.429062 m/s, LOS rate: -4.630439 deg/s, posRepo size: 4 2021-08-13T13:41:13.480Z,1628862073.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.12 m. Rolling out. 2021-08-13T13:41:13.480Z,1628862073.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T13:41:13.870Z,1628862073.870 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position 2.95 mm. 2021-08-13T13:41:13.871Z,1628862073.871 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position 2.95 mm. 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T13:41:13.905Z,1628862073.905 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T13:41:15.888Z,1628862075.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:16.255Z,1628862076.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:16.256Z,1628862076.256 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:16.256Z,1628862076.256 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:16.257Z,1628862076.257 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:16.649Z,1628862076.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 357,000,003D1,189,80,80,76,FF 2021-08-13T13:41:16.649Z,1628862076.649 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:16.649Z,1628862076.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:16.651Z,1628862076.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:17.070Z,1628862077.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:17.461Z,1628862077.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,003F1,188,80,80,91,FF 2021-08-13T13:41:17.461Z,1628862077.461 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:17.525Z,1628862077.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:17.913Z,1628862077.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134118.18*59 2021-08-13T13:41:17.962Z,1628862077.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 48.151806 deg, deltaT: 4.432202 s, approachRate: 0.433193 m/s, LOS rate: -2.976723 deg/s, posRepo size: 4 2021-08-13T13:41:20.362Z,1628862080.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:20.689Z,1628862080.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:20.689Z,1628862080.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:20.689Z,1628862080.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:20.690Z,1628862080.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:21.093Z,1628862081.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 373,000,003F1,188,80,80,91,FF 2021-08-13T13:41:21.093Z,1628862081.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:21.093Z,1628862081.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:21.095Z,1628862081.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:21.520Z,1628862081.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:21.905Z,1628862081.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,0040A,18A,80,80,A6,FF 2021-08-13T13:41:21.906Z,1628862081.906 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:21.994Z,1628862081.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:22.344Z,1628862082.344 [Micromodem](INFO): Nmea in: $SNTTA,0.053351,,,,134122.62*42 2021-08-13T13:41:22.380Z,1628862082.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 47.403688 deg, deltaT: 4.469209 s, approachRate: 0.335629 m/s, LOS rate: -0.167394 deg/s, posRepo size: 4 2021-08-13T13:41:24.826Z,1628862084.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:25.133Z,1628862085.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:25.133Z,1628862085.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:25.133Z,1628862085.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:25.134Z,1628862085.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:25.530Z,1628862085.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 28B,000,0040A,18A,80,80,A6,FF 2021-08-13T13:41:25.531Z,1628862085.531 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:25.531Z,1628862085.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:25.533Z,1628862085.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:25.953Z,1628862085.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:26.385Z,1628862086.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00420,185,80,80,47,FF 2021-08-13T13:41:26.385Z,1628862086.385 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:26.460Z,1628862086.460 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:26.786Z,1628862086.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134127.06*5A 2021-08-13T13:41:26.819Z,1628862086.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 49.767866 deg, deltaT: 4.465891 s, approachRate: 0.295575 m/s, LOS rate: 0.529385 deg/s, posRepo size: 4 2021-08-13T13:41:29.201Z,1628862089.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:29.581Z,1628862089.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:29.581Z,1628862089.581 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:29.581Z,1628862089.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:29.582Z,1628862089.582 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:29.983Z,1628862089.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B4,000,00420,185,80,80,47,FF 2021-08-13T13:41:29.984Z,1628862089.984 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:29.985Z,1628862089.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:29.987Z,1628862089.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:30.388Z,1628862090.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:30.801Z,1628862090.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,0042A,186,80,80,86,FF 2021-08-13T13:41:30.801Z,1628862090.801 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:30.858Z,1628862090.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:31.225Z,1628862091.225 [Micromodem](INFO): Nmea in: $SNTTA,0.038067,,,,134131.51*4B 2021-08-13T13:41:31.260Z,1628862091.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 49.888040 deg, deltaT: 4.397699 s, approachRate: 0.136435 m/s, LOS rate: 0.027327 deg/s, posRepo size: 4 2021-08-13T13:41:33.638Z,1628862093.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:34.045Z,1628862094.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:34.045Z,1628862094.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:34.046Z,1628862094.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:34.047Z,1628862094.047 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:34.440Z,1628862094.440 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 13D,000,0042A,186,80,80,86,FF 2021-08-13T13:41:34.440Z,1628862094.440 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:34.441Z,1628862094.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:34.442Z,1628862094.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:34.837Z,1628862094.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:35.238Z,1628862095.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14E,000,00444,185,80,80,6D,FF 2021-08-13T13:41:35.238Z,1628862095.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:35.257Z,1628862095.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:35.679Z,1628862095.679 [Micromodem](INFO): Nmea in: $SNTTA,0.097048,,,,134135.97*4D 2021-08-13T13:41:35.751Z,1628862095.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 44.838522 deg, deltaT: 4.399535 s, approachRate: 0.354583 m/s, LOS rate: -1.147739 deg/s, posRepo size: 4 2021-08-13T13:41:38.179Z,1628862098.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:38.473Z,1628862098.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:38.473Z,1628862098.473 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:38.474Z,1628862098.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:38.474Z,1628862098.474 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:38.874Z,1628862098.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 14E,000,00444,185,80,80,6D,FF 2021-08-13T13:41:38.874Z,1628862098.874 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:38.874Z,1628862098.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:38.877Z,1628862098.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:39.277Z,1628862099.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:39.679Z,1628862099.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,00444,186,80,80,8B,FF 2021-08-13T13:41:39.680Z,1628862099.680 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:39.746Z,1628862099.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:40.129Z,1628862100.129 [Micromodem](INFO): Nmea in: $SNTTA,0.084723,0.476153,,,134140.40*51 2021-08-13T13:41:40.208Z,1628862100.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 42.406312 deg, deltaT: 4.488682 s, approachRate: 0.000000 m/s, LOS rate: -0.541854 deg/s, posRepo size: 4 2021-08-13T13:41:42.546Z,1628862102.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:42.913Z,1628862102.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:42.913Z,1628862102.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:42.913Z,1628862102.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:42.914Z,1628862102.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:43.321Z,1628862103.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 152,000,00444,186,80,80,8B,FF 2021-08-13T13:41:43.322Z,1628862103.322 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:43.322Z,1628862103.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:43.323Z,1628862103.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:43.734Z,1628862103.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:44.121Z,1628862104.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,0045E,186,80,80,90,FF 2021-08-13T13:41:44.122Z,1628862104.122 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:44.205Z,1628862104.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:44.553Z,1628862104.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134144.85*54 2021-08-13T13:41:44.575Z,1628862104.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 34.077887 deg, deltaT: 4.459281 s, approachRate: 0.349832 m/s, LOS rate: -1.867661 deg/s, posRepo size: 4 2021-08-13T13:41:46.996Z,1628862106.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:47.361Z,1628862107.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:47.361Z,1628862107.361 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:47.361Z,1628862107.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:47.362Z,1628862107.362 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:47.773Z,1628862107.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1E4,000,0045E,186,80,80,90,FF 2021-08-13T13:41:47.773Z,1628862107.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:47.774Z,1628862107.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:47.775Z,1628862107.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:48.169Z,1628862108.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:48.566Z,1628862108.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,00468,186,80,80,29,FF 2021-08-13T13:41:48.566Z,1628862108.566 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:48.595Z,1628862108.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:49.005Z,1628862109.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134149.30*57 2021-08-13T13:41:49.046Z,1628862109.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 38.167688 deg, deltaT: 4.389730 s, approachRate: 0.136682 m/s, LOS rate: 0.931675 deg/s, posRepo size: 4 2021-08-13T13:41:51.414Z,1628862111.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:51.797Z,1628862111.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:51.797Z,1628862111.797 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:51.797Z,1628862111.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:51.798Z,1628862111.798 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:52.201Z,1628862112.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18A,000,00468,186,80,80,29,FF 2021-08-13T13:41:52.201Z,1628862112.201 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:52.201Z,1628862112.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:52.203Z,1628862112.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:52.609Z,1628862112.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:53.013Z,1628862113.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,0046C,189,80,80,9A,FF 2021-08-13T13:41:53.013Z,1628862113.013 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:53.071Z,1628862113.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:53.457Z,1628862113.457 [Micromodem](INFO): Nmea in: $SNTTA,0.081661,,,,134153.73*4D 2021-08-13T13:41:53.479Z,1628862113.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 24.191290 deg, deltaT: 4.476071 s, approachRate: 0.053618 m/s, LOS rate: -3.122470 deg/s, posRepo size: 4 2021-08-13T13:41:55.877Z,1628862115.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:41:56.237Z,1628862116.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:41:56.237Z,1628862116.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:41:56.238Z,1628862116.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:41:56.238Z,1628862116.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:41:56.645Z,1628862116.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 29D,000,0046C,189,80,80,9A,FF 2021-08-13T13:41:56.645Z,1628862116.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:41:56.645Z,1628862116.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:41:56.647Z,1628862116.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:41:57.052Z,1628862117.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:41:57.461Z,1628862117.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,00479,189,80,80,99,FF 2021-08-13T13:41:57.461Z,1628862117.461 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:41:57.526Z,1628862117.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:41:57.898Z,1628862117.898 [Micromodem](INFO): Nmea in: $SNTTA,0.084118,,,,134158.17*48 2021-08-13T13:41:57.937Z,1628862117.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 22.325815 deg, deltaT: 4.454890 s, approachRate: 0.175090 m/s, LOS rate: -0.418748 deg/s, posRepo size: 4 2021-08-13T13:42:00.323Z,1628862120.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:00.689Z,1628862120.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:00.689Z,1628862120.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:00.689Z,1628862120.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:00.690Z,1628862120.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:01.089Z,1628862121.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2BC,000,00479,189,80,80,99,FF 2021-08-13T13:42:01.089Z,1628862121.089 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:01.089Z,1628862121.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:01.091Z,1628862121.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:01.501Z,1628862121.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:01.898Z,1628862121.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00487,189,80,80,66,FF 2021-08-13T13:42:01.898Z,1628862121.898 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:01.959Z,1628862121.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:02.317Z,1628862122.317 [Micromodem](INFO): Nmea in: $SNTTA,0.034563,0.409725,,,134202.61*55 2021-08-13T13:42:02.365Z,1628862122.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 23.573452 deg, deltaT: 4.433558 s, approachRate: 0.189464 m/s, LOS rate: 0.281408 deg/s, posRepo size: 4 2021-08-13T13:42:04.822Z,1628862124.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:05.133Z,1628862125.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:05.133Z,1628862125.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:05.133Z,1628862125.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:05.134Z,1628862125.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:05.533Z,1628862125.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A2,000,00487,189,80,80,66,FF 2021-08-13T13:42:05.533Z,1628862125.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:05.533Z,1628862125.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:05.535Z,1628862125.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:05.941Z,1628862125.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:06.345Z,1628862126.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,0048F,189,80,80,4D,FF 2021-08-13T13:42:06.345Z,1628862126.345 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:06.405Z,1628862126.405 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:06.805Z,1628862126.805 [Micromodem](INFO): Nmea in: $SNTTA,0.047827,,,,134207.06*4B 2021-08-13T13:42:06.835Z,1628862126.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 22.922472 deg, deltaT: 4.445354 s, approachRate: 0.107978 m/s, LOS rate: -0.146441 deg/s, posRepo size: 4 2021-08-13T13:42:09.186Z,1628862129.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:09.573Z,1628862129.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:09.573Z,1628862129.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:09.573Z,1628862129.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:09.574Z,1628862129.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:09.989Z,1628862129.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A5,000,0048F,189,80,80,4D,FF 2021-08-13T13:42:09.989Z,1628862129.989 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:09.990Z,1628862129.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:09.991Z,1628862129.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:10.384Z,1628862130.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:10.801Z,1628862130.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,004A2,188,80,80,85,FF 2021-08-13T13:42:10.801Z,1628862130.801 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:10.901Z,1628862130.901 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:11.213Z,1628862131.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134211.52*5D 2021-08-13T13:42:11.259Z,1628862131.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 19.911458 deg, deltaT: 4.495971 s, approachRate: 0.253560 m/s, LOS rate: -0.669714 deg/s, posRepo size: 4 2021-08-13T13:42:13.646Z,1628862133.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:14.025Z,1628862134.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:14.026Z,1628862134.026 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:14.026Z,1628862134.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:14.028Z,1628862134.028 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:14.421Z,1628862134.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2D4,000,004A2,188,80,80,85,FF 2021-08-13T13:42:14.421Z,1628862134.421 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:14.422Z,1628862134.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:14.423Z,1628862134.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:14.883Z,1628862134.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:15.273Z,1628862135.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,309,000,004AD,189,80,80,84,FF 2021-08-13T13:42:15.274Z,1628862135.274 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:15.293Z,1628862135.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:15.695Z,1628862135.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134215.95*52 2021-08-13T13:42:15.763Z,1628862135.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 16.893769 deg, deltaT: 4.392103 s, approachRate: 0.150270 m/s, LOS rate: -0.687071 deg/s, posRepo size: 4 2021-08-13T13:42:18.165Z,1628862138.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:18.505Z,1628862138.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:18.505Z,1628862138.505 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:18.505Z,1628862138.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:18.506Z,1628862138.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:18.918Z,1628862138.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 309,000,004AD,189,80,80,84,FF 2021-08-13T13:42:18.918Z,1628862138.918 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:18.918Z,1628862138.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:18.920Z,1628862138.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:19.321Z,1628862139.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:19.735Z,1628862139.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,341,000,004C0,189,80,80,6E,FF 2021-08-13T13:42:19.740Z,1628862139.740 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:19.834Z,1628862139.834 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:20.142Z,1628862140.142 [Micromodem](INFO): Nmea in: $SNTTA,0.454550,0.454725,,,134220.44*58 2021-08-13T13:42:20.210Z,1628862140.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 13.247680 deg, deltaT: 4.541213 s, approachRate: 0.251035 m/s, LOS rate: -0.802889 deg/s, posRepo size: 4 2021-08-13T13:42:22.567Z,1628862142.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:22.951Z,1628862142.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:22.951Z,1628862142.951 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:22.951Z,1628862142.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:22.952Z,1628862142.952 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:23.361Z,1628862143.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 341,000,004C0,189,80,80,6E,FF 2021-08-13T13:42:23.361Z,1628862143.361 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:23.361Z,1628862143.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:23.363Z,1628862143.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:23.785Z,1628862143.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:24.165Z,1628862144.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,004CB,188,80,80,87,FF 2021-08-13T13:42:24.165Z,1628862144.165 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:24.265Z,1628862144.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:24.614Z,1628862144.614 [Micromodem](INFO): Nmea in: $SNTTA,0.275596,,,,134224.89*49 2021-08-13T13:42:24.635Z,1628862144.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 9.577435 deg, deltaT: 4.430569 s, approachRate: 0.148964 m/s, LOS rate: -0.828391 deg/s, posRepo size: 4 2021-08-13T13:42:27.040Z,1628862147.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:27.393Z,1628862147.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:27.393Z,1628862147.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:27.393Z,1628862147.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:27.394Z,1628862147.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:27.813Z,1628862147.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 37D,000,004CB,188,80,80,87,FF 2021-08-13T13:42:27.813Z,1628862147.813 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:27.813Z,1628862147.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:27.815Z,1628862147.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:28.213Z,1628862148.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:28.621Z,1628862148.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C1,000,004DB,189,80,80,77,FF 2021-08-13T13:42:28.621Z,1628862148.621 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:28.641Z,1628862148.641 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:29.047Z,1628862149.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 5.588912 deg, deltaT: 4.375978 s, approachRate: 0.219380 m/s, LOS rate: -0.911459 deg/s, posRepo size: 4 2021-08-13T13:42:31.454Z,1628862151.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:31.857Z,1628862151.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:31.857Z,1628862151.857 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:31.857Z,1628862151.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:31.858Z,1628862151.858 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:32.245Z,1628862152.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3C1,000,004DB,189,80,80,77,FF 2021-08-13T13:42:32.246Z,1628862152.246 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:32.246Z,1628862152.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:32.247Z,1628862152.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:32.661Z,1628862152.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:33.046Z,1628862153.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,004E7,189,80,80,69,FF 2021-08-13T13:42:33.046Z,1628862153.046 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:33.075Z,1628862153.075 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:33.489Z,1628862153.489 [Micromodem](INFO): Nmea in: $SNTTA,0.043334,,,,134233.77*47 2021-08-13T13:42:33.522Z,1628862153.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 6.218879 deg, deltaT: 4.434355 s, approachRate: 0.162368 m/s, LOS rate: 0.142065 deg/s, posRepo size: 4 2021-08-13T13:42:35.937Z,1628862155.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:36.286Z,1628862156.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:36.286Z,1628862156.286 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:36.287Z,1628862156.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:36.289Z,1628862156.289 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:36.694Z,1628862156.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3B8,000,004E7,189,80,80,69,FF 2021-08-13T13:42:36.694Z,1628862156.694 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:36.695Z,1628862156.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:36.715Z,1628862156.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:37.093Z,1628862157.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:37.510Z,1628862157.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,004F2,188,80,80,7E,FF 2021-08-13T13:42:37.511Z,1628862157.511 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:37.531Z,1628862157.531 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:37.933Z,1628862157.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134238.24*57 2021-08-13T13:42:37.958Z,1628862157.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 8.515444 deg, deltaT: 4.456880 s, approachRate: 0.148085 m/s, LOS rate: 0.515285 deg/s, posRepo size: 4 2021-08-13T13:42:40.059Z,1628862160.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:40.329Z,1628862160.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:40.329Z,1628862160.329 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:40.329Z,1628862160.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:40.330Z,1628862160.330 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:40.764Z,1628862160.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 390,000,004F2,188,80,80,7E,FF 2021-08-13T13:42:40.764Z,1628862160.764 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:40.765Z,1628862160.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:40.766Z,1628862160.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:41.173Z,1628862161.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:41.585Z,1628862161.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,365,000,00500,189,80,80,9B,FF 2021-08-13T13:42:41.586Z,1628862161.586 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:41.605Z,1628862161.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:42.049Z,1628862162.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134242.29*57 2021-08-13T13:42:42.120Z,1628862162.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 10.261394 deg, deltaT: 4.073210 s, approachRate: 0.206227 m/s, LOS rate: 0.428642 deg/s, posRepo size: 4 2021-08-13T13:42:44.131Z,1628862164.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:44.401Z,1628862164.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:44.401Z,1628862164.401 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:44.401Z,1628862164.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:44.402Z,1628862164.402 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:44.831Z,1628862164.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 365,000,00500,189,80,80,9B,FF 2021-08-13T13:42:44.834Z,1628862164.834 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:44.834Z,1628862164.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:44.843Z,1628862164.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:45.229Z,1628862165.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:45.626Z,1628862165.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,00509,188,80,80,74,FF 2021-08-13T13:42:45.626Z,1628862165.626 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:45.678Z,1628862165.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:46.066Z,1628862166.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134246.37*5C 2021-08-13T13:42:46.153Z,1628862166.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 10.982210 deg, deltaT: 4.072744 s, approachRate: 0.132589 m/s, LOS rate: 0.176985 deg/s, posRepo size: 4 2021-08-13T13:42:48.131Z,1628862168.131 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T13:42:48.469Z,1628862168.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:48.854Z,1628862168.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:48.854Z,1628862168.854 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:48.854Z,1628862168.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:48.855Z,1628862168.855 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:49.261Z,1628862169.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 35F,000,00509,188,80,80,74,FF 2021-08-13T13:42:49.261Z,1628862169.261 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:49.262Z,1628862169.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:49.263Z,1628862169.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:49.662Z,1628862169.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:50.105Z,1628862170.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,00529,189,80,80,A9,FF 2021-08-13T13:42:50.106Z,1628862170.106 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:50.109Z,1628862170.109 [Micromodem](INFO): Nmea in: $SNTTA,0.284385,0.284510,,,134250.79*5B 2021-08-13T13:42:50.193Z,1628862170.193 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T13:42:50.521Z,1628862170.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 15.221941 deg, deltaT: 4.514918 s, approachRate: 0.425256 m/s, LOS rate: 0.939049 deg/s, posRepo size: 4 2021-08-13T13:42:50.925Z,1628862170.925 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T13:42:50.925Z,1628862170.925 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:42:50.925Z,1628862170.925 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T13:42:50.926Z,1628862170.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T13:42:50.926Z,1628862170.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T13:42:50.926Z,1628862170.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T13:42:51.332Z,1628862171.332 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T13:42:51.332Z,1628862171.332 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:42:51.332Z,1628862171.332 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T13:42:51.332Z,1628862171.332 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T13:42:52.964Z,1628862172.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:53.301Z,1628862173.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:53.301Z,1628862173.301 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:53.301Z,1628862173.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:53.302Z,1628862173.302 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:53.701Z,1628862173.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 30F,000,00529,189,80,80,A9,FF 2021-08-13T13:42:53.702Z,1628862173.702 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:53.702Z,1628862173.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:53.727Z,1628862173.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:54.125Z,1628862174.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:54.505Z,1628862174.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,00531,189,80,80,66,FF 2021-08-13T13:42:54.505Z,1628862174.505 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:54.949Z,1628862174.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134255.25*5D 2021-08-13T13:42:54.998Z,1628862174.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 17.575614 deg, deltaT: 4.400818 s, approachRate: 0.109071 m/s, LOS rate: 0.534826 deg/s, posRepo size: 4 2021-08-13T13:42:57.362Z,1628862177.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:42:57.773Z,1628862177.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:42:57.773Z,1628862177.773 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:42:57.774Z,1628862177.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:42:57.775Z,1628862177.775 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:42:58.141Z,1628862178.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2DB,000,00531,189,80,80,66,FF 2021-08-13T13:42:58.142Z,1628862178.142 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:42:58.142Z,1628862178.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:42:58.144Z,1628862178.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:42:58.553Z,1628862178.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:42:58.958Z,1628862178.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37B,000,00539,189,80,80,8F,FF 2021-08-13T13:42:58.958Z,1628862178.958 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:42:59.377Z,1628862179.377 [Micromodem](INFO): Nmea in: $SNTTA,0.044737,,,,134259.67*4A 2021-08-13T13:42:59.434Z,1628862179.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 9.263074 deg, deltaT: 4.413547 s, approachRate: 0.108755 m/s, LOS rate: -1.883415 deg/s, posRepo size: 4 2021-08-13T13:43:01.833Z,1628862181.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:02.185Z,1628862182.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:02.185Z,1628862182.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:02.185Z,1628862182.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:02.186Z,1628862182.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:02.593Z,1628862182.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 37B,000,00539,189,80,80,8F,FF 2021-08-13T13:43:02.593Z,1628862182.593 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:02.594Z,1628862182.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:02.595Z,1628862182.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:03.001Z,1628862183.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:03.397Z,1628862183.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,0054F,189,80,80,87,FF 2021-08-13T13:43:03.397Z,1628862183.397 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:03.841Z,1628862183.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134304.12*5C 2021-08-13T13:43:03.869Z,1628862183.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.039997 m, bearing: 16.845072 deg, deltaT: 4.454348 s, approachRate: 0.296340 m/s, LOS rate: 1.702157 deg/s, posRepo size: 4 2021-08-13T13:43:06.268Z,1628862186.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:06.629Z,1628862186.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:06.629Z,1628862186.629 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:06.629Z,1628862186.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:06.630Z,1628862186.630 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:07.041Z,1628862187.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2EF,000,0054F,189,80,80,87,FF 2021-08-13T13:43:07.041Z,1628862187.041 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:07.042Z,1628862187.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:07.043Z,1628862187.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:07.440Z,1628862187.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:07.841Z,1628862187.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,00555,18A,80,80,67,FF 2021-08-13T13:43:07.842Z,1628862187.842 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:08.253Z,1628862188.253 [Micromodem](INFO): Nmea in: $SNTTA,0.048082,0.432883,,,134308.57*51 2021-08-13T13:43:08.304Z,1628862188.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 14.053574 deg, deltaT: 4.413123 s, approachRate: 0.081576 m/s, LOS rate: -0.632545 deg/s, posRepo size: 4 2021-08-13T13:43:10.710Z,1628862190.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:11.073Z,1628862191.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:11.073Z,1628862191.073 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:11.073Z,1628862191.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:11.074Z,1628862191.074 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:11.477Z,1628862191.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 32D,000,00555,18A,80,80,67,FF 2021-08-13T13:43:11.477Z,1628862191.477 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:11.477Z,1628862191.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:11.479Z,1628862191.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:11.899Z,1628862191.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:12.285Z,1628862192.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,00569,188,80,80,62,FF 2021-08-13T13:43:12.285Z,1628862192.285 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:12.289Z,1628862192.289 [Micromodem](INFO): Nmea in: $SNTTA,0.058966,0.214953,,,134313.00*55 2021-08-13T13:43:12.761Z,1628862192.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 9.983444 deg, deltaT: 4.479129 s, approachRate: 0.267909 m/s, LOS rate: -0.908688 deg/s, posRepo size: 4 2021-08-13T13:43:15.141Z,1628862195.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:15.517Z,1628862195.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:15.517Z,1628862195.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:15.517Z,1628862195.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:15.518Z,1628862195.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:15.941Z,1628862195.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 382,000,00569,188,80,80,62,FF 2021-08-13T13:43:15.941Z,1628862195.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:15.941Z,1628862195.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:15.943Z,1628862195.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:16.341Z,1628862196.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:16.753Z,1628862196.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40D,000,00574,189,80,80,5B,FF 2021-08-13T13:43:16.754Z,1628862196.754 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:17.161Z,1628862197.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134317.47*5E 2021-08-13T13:43:17.183Z,1628862197.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 3.854516 deg, deltaT: 4.448783 s, approachRate: 0.148355 m/s, LOS rate: -1.377664 deg/s, posRepo size: 4 2021-08-13T13:43:19.574Z,1628862199.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:19.969Z,1628862199.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:19.969Z,1628862199.969 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:19.969Z,1628862199.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:19.970Z,1628862199.970 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:20.369Z,1628862200.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 40D,000,00574,189,80,80,5B,FF 2021-08-13T13:43:20.369Z,1628862200.369 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:20.369Z,1628862200.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:20.371Z,1628862200.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:20.855Z,1628862200.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:21.237Z,1628862201.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,00582,189,80,80,9C,FF 2021-08-13T13:43:21.238Z,1628862201.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:21.657Z,1628862201.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134321.90*51 2021-08-13T13:43:21.737Z,1628862201.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 6.402396 deg, deltaT: 4.455449 s, approachRate: 0.188534 m/s, LOS rate: 0.571857 deg/s, posRepo size: 4 2021-08-13T13:43:24.201Z,1628862204.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:24.485Z,1628862204.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:24.485Z,1628862204.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:24.485Z,1628862204.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:24.486Z,1628862204.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:24.901Z,1628862204.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3E3,000,00582,189,80,80,9C,FF 2021-08-13T13:43:24.902Z,1628862204.902 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:24.904Z,1628862204.904 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:24.934Z,1628862204.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:25.289Z,1628862205.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:25.689Z,1628862205.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00596,185,80,80,84,FF 2021-08-13T13:43:25.690Z,1628862205.690 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:26.151Z,1628862206.151 [Micromodem](INFO): Nmea in: $SNTTA,0.042127,,,,134326.46*41 2021-08-13T13:43:26.233Z,1628862206.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 40.364376 deg, deltaT: 4.508914 s, approachRate: 0.266140 m/s, LOS rate: 7.532187 deg/s, posRepo size: 4 2021-08-13T13:43:28.561Z,1628862208.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:28.929Z,1628862208.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:28.929Z,1628862208.929 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:28.929Z,1628862208.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:28.930Z,1628862208.930 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:29.325Z,1628862209.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 151,000,00596,185,80,80,84,FF 2021-08-13T13:43:29.325Z,1628862209.325 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:29.325Z,1628862209.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:29.327Z,1628862209.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:29.755Z,1628862209.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:30.133Z,1628862210.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,400,000,005A6,18A,80,80,24,FF 2021-08-13T13:43:30.134Z,1628862210.134 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:30.569Z,1628862210.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134330.85*55 2021-08-13T13:43:30.608Z,1628862210.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 7.272315 deg, deltaT: 4.442269 s, approachRate: 0.216105 m/s, LOS rate: -7.449360 deg/s, posRepo size: 4 2021-08-13T13:43:33.010Z,1628862213.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:33.366Z,1628862213.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:33.366Z,1628862213.366 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:33.366Z,1628862213.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:33.367Z,1628862213.367 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:33.781Z,1628862213.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 400,000,005A6,18A,80,80,24,FF 2021-08-13T13:43:33.781Z,1628862213.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:33.781Z,1628862213.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:33.783Z,1628862213.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:34.181Z,1628862214.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:34.577Z,1628862214.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,005B1,186,80,80,8E,FF 2021-08-13T13:43:34.578Z,1628862214.578 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:35.017Z,1628862215.017 [Micromodem](INFO): Nmea in: $SNTTA,0.024507,,,,134335.31*45 2021-08-13T13:43:35.063Z,1628862215.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 52.757542 deg, deltaT: 4.387611 s, approachRate: 0.150424 m/s, LOS rate: 10.366742 deg/s, posRepo size: 4 2021-08-13T13:43:37.422Z,1628862217.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:37.817Z,1628862217.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:37.817Z,1628862217.817 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:37.818Z,1628862217.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:37.818Z,1628862217.818 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:38.213Z,1628862218.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 089,000,005B1,186,80,80,8E,FF 2021-08-13T13:43:38.213Z,1628862218.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:38.213Z,1628862218.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:38.215Z,1628862218.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:38.625Z,1628862218.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:39.021Z,1628862219.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,005BF,187,80,80,6B,FF 2021-08-13T13:43:39.022Z,1628862219.022 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:39.465Z,1628862219.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134339.74*52 2021-08-13T13:43:39.502Z,1628862219.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.760002 m, bearing: 55.173643 deg, deltaT: 4.453504 s, approachRate: 0.188616 m/s, LOS rate: 0.542517 deg/s, posRepo size: 4 2021-08-13T13:43:41.878Z,1628862221.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:42.261Z,1628862222.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:42.261Z,1628862222.261 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:42.261Z,1628862222.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:42.262Z,1628862222.262 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:42.672Z,1628862222.672 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 072,000,005BF,187,80,80,6B,FF 2021-08-13T13:43:42.672Z,1628862222.672 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:42.673Z,1628862222.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:42.674Z,1628862222.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:43.069Z,1628862223.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:43.469Z,1628862223.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,005D1,186,80,80,8B,FF 2021-08-13T13:43:43.470Z,1628862223.470 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:43.899Z,1628862223.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134344.20*59 2021-08-13T13:43:43.926Z,1628862223.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 69.500132 deg, deltaT: 4.443327 s, approachRate: 0.243062 m/s, LOS rate: 3.224271 deg/s, posRepo size: 4 2021-08-13T13:43:46.362Z,1628862226.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:46.711Z,1628862226.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:46.712Z,1628862226.712 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:46.713Z,1628862226.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:46.714Z,1628862226.714 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:47.101Z,1628862227.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6B,000,005D1,186,80,80,8B,FF 2021-08-13T13:43:47.101Z,1628862227.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:47.101Z,1628862227.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:47.103Z,1628862227.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:47.513Z,1628862227.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:47.921Z,1628862227.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F23,000,005E0,187,80,80,79,FF 2021-08-13T13:43:47.922Z,1628862227.922 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:48.334Z,1628862228.334 [Micromodem](INFO): Nmea in: $SNTTA,0.363911,0.363967,,,134348.63*53 2021-08-13T13:43:48.370Z,1628862228.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.739998 m, bearing: 74.312178 deg, deltaT: 4.457300 s, approachRate: 0.201915 m/s, LOS rate: 1.079588 deg/s, posRepo size: 4 2021-08-13T13:43:50.806Z,1628862230.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:51.137Z,1628862231.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:51.137Z,1628862231.137 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:51.137Z,1628862231.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:51.138Z,1628862231.138 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:51.545Z,1628862231.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F23,000,005E0,187,80,80,79,FF 2021-08-13T13:43:51.545Z,1628862231.545 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:51.545Z,1628862231.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:51.547Z,1628862231.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:51.957Z,1628862231.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:52.361Z,1628862232.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,005E7,186,80,80,90,FF 2021-08-13T13:43:52.362Z,1628862232.362 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:52.365Z,1628862232.365 [Micromodem](INFO): Nmea in: $SNTTA,0.179921,0.180290,,,134353.07*5D 2021-08-13T13:43:52.820Z,1628862232.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 79.893351 deg, deltaT: 4.513277 s, approachRate: 0.093058 m/s, LOS rate: 1.236612 deg/s, posRepo size: 4 2021-08-13T13:43:55.223Z,1628862235.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:43:55.593Z,1628862235.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:43:55.593Z,1628862235.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:43:55.593Z,1628862235.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:43:55.594Z,1628862235.594 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:43:55.996Z,1628862235.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC4,000,005E7,186,80,80,90,FF 2021-08-13T13:43:55.996Z,1628862235.996 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:43:55.997Z,1628862235.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:43:56.002Z,1628862236.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:43:56.409Z,1628862236.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:43:56.805Z,1628862236.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,005FA,186,80,80,7B,FF 2021-08-13T13:43:56.806Z,1628862236.806 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:43:57.260Z,1628862237.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.300003 m, bearing: 81.431721 deg, deltaT: 4.394552 s, approachRate: 0.259414 m/s, LOS rate: 0.350063 deg/s, posRepo size: 4 2021-08-13T13:43:59.651Z,1628862239.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:00.051Z,1628862240.051 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:00.052Z,1628862240.052 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:00.053Z,1628862240.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:00.054Z,1628862240.054 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:00.433Z,1628862240.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB5,000,005FA,186,80,80,7B,FF 2021-08-13T13:44:00.433Z,1628862240.433 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:00.434Z,1628862240.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:00.435Z,1628862240.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:00.845Z,1628862240.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:01.281Z,1628862241.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,0060B,186,80,80,6D,FF 2021-08-13T13:44:01.282Z,1628862241.282 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:01.681Z,1628862241.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134401.96*52 2021-08-13T13:44:01.755Z,1628862241.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 79.888481 deg, deltaT: 4.520211 s, approachRate: 0.225653 m/s, LOS rate: -0.341409 deg/s, posRepo size: 4 2021-08-13T13:44:04.176Z,1628862244.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:04.477Z,1628862244.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:04.477Z,1628862244.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:04.477Z,1628862244.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:04.478Z,1628862244.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:04.886Z,1628862244.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDA,000,0060B,186,80,80,6D,FF 2021-08-13T13:44:04.886Z,1628862244.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:04.887Z,1628862244.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:04.889Z,1628862244.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:05.297Z,1628862245.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:05.689Z,1628862245.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,0061D,186,80,80,7F,FF 2021-08-13T13:44:05.691Z,1628862245.691 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:06.129Z,1628862246.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134406.42*5C 2021-08-13T13:44:06.186Z,1628862246.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 82.117910 deg, deltaT: 4.372048 s, approachRate: 0.247024 m/s, LOS rate: 0.509928 deg/s, posRepo size: 4 2021-08-13T13:44:08.539Z,1628862248.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:08.921Z,1628862248.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:08.921Z,1628862248.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:08.921Z,1628862248.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:08.922Z,1628862248.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:09.334Z,1628862249.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBA,000,0061D,186,80,80,7F,FF 2021-08-13T13:44:09.334Z,1628862249.334 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:09.334Z,1628862249.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:09.336Z,1628862249.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:09.738Z,1628862249.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:10.145Z,1628862250.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,365,000,00626,189,80,80,52,FF 2021-08-13T13:44:10.145Z,1628862250.145 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:10.565Z,1628862250.565 [Micromodem](INFO): Nmea in: $SNTTA,0.066832,,,,134410.86*44 2021-08-13T13:44:10.610Z,1628862250.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 22.680907 deg, deltaT: 4.455095 s, approachRate: 0.121208 m/s, LOS rate: -13.341355 deg/s, posRepo size: 4 2021-08-13T13:44:13.004Z,1628862253.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:13.377Z,1628862253.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:13.377Z,1628862253.377 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:13.377Z,1628862253.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:13.378Z,1628862253.378 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:13.777Z,1628862253.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 365,000,00626,189,80,80,52,FF 2021-08-13T13:44:13.777Z,1628862253.777 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:13.777Z,1628862253.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:13.779Z,1628862253.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:14.189Z,1628862254.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:14.581Z,1628862254.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,00638,186,80,80,6D,FF 2021-08-13T13:44:14.582Z,1628862254.582 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:15.037Z,1628862255.037 [Micromodem](INFO): Nmea in: $SNTTA,0.025286,,,,134415.30*4E 2021-08-13T13:44:15.080Z,1628862255.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 83.914775 deg, deltaT: 4.394802 s, approachRate: 0.245746 m/s, LOS rate: 13.933249 deg/s, posRepo size: 4 2021-08-13T13:44:17.433Z,1628862257.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:17.805Z,1628862257.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:17.805Z,1628862257.805 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:17.805Z,1628862257.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:17.806Z,1628862257.806 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:18.222Z,1628862258.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA8,000,00638,186,80,80,6D,FF 2021-08-13T13:44:18.222Z,1628862258.222 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:18.222Z,1628862258.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:18.225Z,1628862258.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:18.617Z,1628862258.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:19.442Z,1628862259.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134419.75*56 2021-08-13T13:44:20.294Z,1628862260.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:21.849Z,1628862261.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 8,186,80,80,6D,FF 2021-08-13T13:44:21.849Z,1628862261.849 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 8,186,80,80,6D,FF 2021-08-13T13:44:21.849Z,1628862261.849 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:44:22.276Z,1628862262.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:44:23.113Z,1628862263.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:23.465Z,1628862263.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:23.465Z,1628862263.465 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:23.465Z,1628862263.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:23.466Z,1628862263.466 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:23.871Z,1628862263.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 8,186,80,80,6D,FF 2021-08-13T13:44:23.871Z,1628862263.871 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:23.872Z,1628862263.872 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:23.875Z,1628862263.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:24.293Z,1628862264.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:24.678Z,1628862264.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,00657,186,80,80,55,FF 2021-08-13T13:44:24.679Z,1628862264.679 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:25.105Z,1628862265.105 [Micromodem](INFO): Nmea in: $SNTTA,0.055097,,,,134425.40*4F 2021-08-13T13:44:25.153Z,1628862265.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 48.771335 deg, deltaT: 10.146702 s, approachRate: 0.183311 m/s, LOS rate: -3.463533 deg/s, posRepo size: 4 2021-08-13T13:44:27.514Z,1628862267.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:27.902Z,1628862267.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:27.902Z,1628862267.902 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:27.902Z,1628862267.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:27.903Z,1628862267.903 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:28.315Z,1628862268.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 16E,000,00657,186,80,80,55,FF 2021-08-13T13:44:28.315Z,1628862268.315 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:28.316Z,1628862268.316 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:28.318Z,1628862268.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:28.757Z,1628862268.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:29.113Z,1628862269.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,00662,189,80,80,6B,FF 2021-08-13T13:44:29.113Z,1628862269.113 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:29.558Z,1628862269.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134429.84*5B 2021-08-13T13:44:29.605Z,1628862269.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 29.914685 deg, deltaT: 4.384958 s, approachRate: 0.150515 m/s, LOS rate: -4.300303 deg/s, posRepo size: 4 2021-08-13T13:44:32.046Z,1628862272.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:32.364Z,1628862272.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:32.364Z,1628862272.364 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:32.364Z,1628862272.364 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:32.365Z,1628862272.365 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:32.785Z,1628862272.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2EB,000,00662,189,80,80,6B,FF 2021-08-13T13:44:32.785Z,1628862272.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:32.785Z,1628862272.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:32.787Z,1628862272.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:33.165Z,1628862273.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:33.966Z,1628862273.966 [Micromodem](INFO): Nmea in: $SNTTA,0.052863,,,,134434.31*4D 2021-08-13T13:44:34.812Z,1628862274.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:36.496Z,1628862276.496 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,189,80,80,6B,FF 2021-08-13T13:44:36.496Z,1628862276.496 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,189,80,80,6B,FF 2021-08-13T13:44:36.496Z,1628862276.496 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:44:37.655Z,1628862277.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:38.048Z,1628862278.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:38.049Z,1628862278.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:38.049Z,1628862278.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:38.051Z,1628862278.051 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:38.433Z,1628862278.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,189,80,80,6B,FF 2021-08-13T13:44:38.433Z,1628862278.433 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:38.433Z,1628862278.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:38.435Z,1628862278.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:38.840Z,1628862278.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:39.237Z,1628862279.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00687,189,80,80,83,FF 2021-08-13T13:44:39.238Z,1628862279.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:39.673Z,1628862279.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134439.96*59 2021-08-13T13:44:39.752Z,1628862279.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.760002 m, bearing: 33.251649 deg, deltaT: 10.123855 s, approachRate: 0.219284 m/s, LOS rate: 0.329614 deg/s, posRepo size: 4 2021-08-13T13:44:42.165Z,1628862282.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:42.469Z,1628862282.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:42.469Z,1628862282.469 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:42.469Z,1628862282.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:42.470Z,1628862282.470 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:42.874Z,1628862282.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A0,000,00687,189,80,80,83,FF 2021-08-13T13:44:42.874Z,1628862282.874 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:42.875Z,1628862282.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:42.877Z,1628862282.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:43.288Z,1628862283.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:43.683Z,1628862283.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00691,189,80,80,6F,FF 2021-08-13T13:44:43.683Z,1628862283.683 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:44.129Z,1628862284.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134444.40*58 2021-08-13T13:44:44.234Z,1628862284.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 32.333480 deg, deltaT: 4.495998 s, approachRate: 0.133452 m/s, LOS rate: -0.204219 deg/s, posRepo size: 4 2021-08-13T13:44:46.538Z,1628862286.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:46.921Z,1628862286.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:46.921Z,1628862286.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:46.921Z,1628862286.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:46.922Z,1628862286.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:47.321Z,1628862287.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B0,000,00691,189,80,80,6F,FF 2021-08-13T13:44:47.321Z,1628862287.321 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:47.321Z,1628862287.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:47.323Z,1628862287.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:47.748Z,1628862287.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:48.125Z,1628862288.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DC,000,0069F,189,80,80,6E,FF 2021-08-13T13:44:48.126Z,1628862288.126 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:48.565Z,1628862288.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134448.85*5D 2021-08-13T13:44:48.600Z,1628862288.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 29.895253 deg, deltaT: 4.439158 s, approachRate: 0.189226 m/s, LOS rate: -0.549254 deg/s, posRepo size: 4 2021-08-13T13:44:50.991Z,1628862290.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:51.354Z,1628862291.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:51.354Z,1628862291.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:51.354Z,1628862291.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:51.355Z,1628862291.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:51.781Z,1628862291.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2DC,000,0069F,189,80,80,6E,FF 2021-08-13T13:44:51.781Z,1628862291.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:51.781Z,1628862291.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:51.783Z,1628862291.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:52.173Z,1628862292.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:52.573Z,1628862292.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,254,000,006AB,188,80,80,75,FF 2021-08-13T13:44:52.573Z,1628862292.573 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:52.997Z,1628862292.997 [Micromodem](INFO): Nmea in: $SNTTA,,0.023090,,,134453.31*4E 2021-08-13T13:44:53.035Z,1628862293.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 36.675189 deg, deltaT: 4.400858 s, approachRate: 0.163603 m/s, LOS rate: 1.540594 deg/s, posRepo size: 4 2021-08-13T13:44:55.429Z,1628862295.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:44:55.805Z,1628862295.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:44:55.805Z,1628862295.805 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:44:55.805Z,1628862295.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:44:55.806Z,1628862295.806 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:44:56.201Z,1628862296.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 254,000,006AB,188,80,80,75,FF 2021-08-13T13:44:56.202Z,1628862296.202 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:44:56.202Z,1628862296.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:44:56.203Z,1628862296.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:44:56.613Z,1628862296.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:44:57.013Z,1628862297.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,006B9,186,80,80,6E,FF 2021-08-13T13:44:57.014Z,1628862297.014 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:44:57.457Z,1628862297.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134457.73*5A 2021-08-13T13:44:57.495Z,1628862297.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.759995 m, bearing: 48.555405 deg, deltaT: 4.494652 s, approachRate: 0.186888 m/s, LOS rate: 2.643189 deg/s, posRepo size: 4 2021-08-13T13:44:59.905Z,1628862299.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:00.257Z,1628862300.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:00.257Z,1628862300.257 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:00.257Z,1628862300.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:00.258Z,1628862300.258 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:00.657Z,1628862300.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 161,000,006B9,186,80,80,6E,FF 2021-08-13T13:45:00.657Z,1628862300.657 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:00.657Z,1628862300.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:00.659Z,1628862300.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:01.057Z,1628862301.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:01.453Z,1628862301.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,006C7,186,80,80,53,FF 2021-08-13T13:45:01.454Z,1628862301.454 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:01.890Z,1628862301.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134502.18*56 2021-08-13T13:45:01.936Z,1628862301.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.599998 m, bearing: 48.380788 deg, deltaT: 4.394861 s, approachRate: 0.191133 m/s, LOS rate: -0.039732 deg/s, posRepo size: 4 2021-08-13T13:45:04.342Z,1628862304.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:04.688Z,1628862304.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:04.689Z,1628862304.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:04.689Z,1628862304.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:04.690Z,1628862304.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:05.102Z,1628862305.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 15F,000,006C7,186,80,80,53,FF 2021-08-13T13:45:05.102Z,1628862305.102 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:05.102Z,1628862305.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:05.104Z,1628862305.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:05.509Z,1628862305.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:05.905Z,1628862305.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,006D5,189,80,80,6C,FF 2021-08-13T13:45:05.905Z,1628862305.905 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:06.329Z,1628862306.329 [Micromodem](INFO): Nmea in: $SNTTA,0.055381,0.403872,,,134506.63*5E 2021-08-13T13:45:06.382Z,1628862306.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 29.309957 deg, deltaT: 4.478905 s, approachRate: 0.187547 m/s, LOS rate: -4.257922 deg/s, posRepo size: 4 2021-08-13T13:45:08.783Z,1628862308.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:09.133Z,1628862309.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:09.133Z,1628862309.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:09.133Z,1628862309.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:09.134Z,1628862309.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:09.553Z,1628862309.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2D9,000,006D5,189,80,80,6C,FF 2021-08-13T13:45:09.553Z,1628862309.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:09.553Z,1628862309.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:09.555Z,1628862309.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:09.954Z,1628862309.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:10.353Z,1628862310.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,006E3,189,80,80,7E,FF 2021-08-13T13:45:10.353Z,1628862310.353 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:10.797Z,1628862310.797 [Micromodem](INFO): Nmea in: $SNTTA,0.177781,,,,134511.08*44 2021-08-13T13:45:10.834Z,1628862310.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.279999 m, bearing: 33.262984 deg, deltaT: 4.450831 s, approachRate: 0.188728 m/s, LOS rate: 0.888155 deg/s, posRepo size: 4 2021-08-13T13:45:13.198Z,1628862313.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:13.585Z,1628862313.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:13.585Z,1628862313.585 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:13.585Z,1628862313.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:13.586Z,1628862313.586 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:14.000Z,1628862314.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 28B,000,006E3,189,80,80,7E,FF 2021-08-13T13:45:14.001Z,1628862314.001 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:14.001Z,1628862314.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:14.007Z,1628862314.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:14.405Z,1628862314.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:14.793Z,1628862314.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,006F1,189,80,80,71,FF 2021-08-13T13:45:14.793Z,1628862314.793 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:15.229Z,1628862315.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134515.53*5F 2021-08-13T13:45:15.276Z,1628862315.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 30.495739 deg, deltaT: 4.410917 s, approachRate: 0.190437 m/s, LOS rate: -0.627363 deg/s, posRepo size: 4 2021-08-13T13:45:17.639Z,1628862317.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:18.048Z,1628862318.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:18.049Z,1628862318.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:18.049Z,1628862318.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:18.051Z,1628862318.051 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:18.438Z,1628862318.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B7,000,006F1,189,80,80,71,FF 2021-08-13T13:45:18.438Z,1628862318.438 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:18.438Z,1628862318.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:18.440Z,1628862318.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:18.837Z,1628862318.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:19.241Z,1628862319.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00704,188,80,80,92,FF 2021-08-13T13:45:19.241Z,1628862319.241 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:19.673Z,1628862319.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134519.96*5A 2021-08-13T13:45:19.751Z,1628862319.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.260010 m, bearing: 34.542360 deg, deltaT: 4.438242 s, approachRate: 0.256860 m/s, LOS rate: 0.911762 deg/s, posRepo size: 4 2021-08-13T13:45:22.173Z,1628862322.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:22.469Z,1628862322.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:22.469Z,1628862322.469 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:22.469Z,1628862322.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:22.470Z,1628862322.470 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:22.886Z,1628862322.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 26A,000,00704,188,80,80,92,FF 2021-08-13T13:45:22.886Z,1628862322.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:22.886Z,1628862322.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:22.889Z,1628862322.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:23.285Z,1628862323.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:23.685Z,1628862323.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,0070E,189,80,80,6D,FF 2021-08-13T13:45:23.686Z,1628862323.686 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:24.129Z,1628862324.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134524.41*5E 2021-08-13T13:45:24.186Z,1628862324.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.860008 m, bearing: 28.524793 deg, deltaT: 4.500756 s, approachRate: 0.133311 m/s, LOS rate: -1.337013 deg/s, posRepo size: 4 2021-08-13T13:45:26.534Z,1628862326.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:26.921Z,1628862326.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:26.921Z,1628862326.921 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:26.921Z,1628862326.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:26.922Z,1628862326.922 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:27.317Z,1628862327.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2E1,000,0070E,189,80,80,6D,FF 2021-08-13T13:45:27.317Z,1628862327.317 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:27.317Z,1628862327.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:27.319Z,1628862327.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:27.736Z,1628862327.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:28.125Z,1628862328.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,0071D,186,80,80,7F,FF 2021-08-13T13:45:28.125Z,1628862328.125 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:28.557Z,1628862328.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134528.84*5B 2021-08-13T13:45:28.579Z,1628862328.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 42.860281 deg, deltaT: 4.422685 s, approachRate: 0.203495 m/s, LOS rate: 3.241354 deg/s, posRepo size: 4 2021-08-13T13:45:30.172Z,1628862330.172 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-08-13T13:45:31.000Z,1628862331.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:31.361Z,1628862331.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:31.361Z,1628862331.361 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:31.361Z,1628862331.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:31.362Z,1628862331.362 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:31.785Z,1628862331.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1C3,000,0071D,186,80,80,7F,FF 2021-08-13T13:45:31.785Z,1628862331.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:31.785Z,1628862331.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:31.787Z,1628862331.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:32.177Z,1628862332.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:32.569Z,1628862332.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00729,186,80,80,54,FF 2021-08-13T13:45:32.570Z,1628862332.570 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:33.013Z,1628862333.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134533.31*5F 2021-08-13T13:45:33.049Z,1628862333.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 46.931620 deg, deltaT: 4.404020 s, approachRate: 0.163487 m/s, LOS rate: 0.924460 deg/s, posRepo size: 4 2021-08-13T13:45:35.443Z,1628862335.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:35.797Z,1628862335.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:35.798Z,1628862335.798 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:35.798Z,1628862335.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:35.798Z,1628862335.798 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:36.219Z,1628862336.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 176,000,00729,186,80,80,54,FF 2021-08-13T13:45:36.219Z,1628862336.219 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:36.219Z,1628862336.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:36.221Z,1628862336.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:36.612Z,1628862336.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:37.026Z,1628862337.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00731,186,80,80,95,FF 2021-08-13T13:45:37.026Z,1628862337.026 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:37.445Z,1628862337.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134537.74*5A 2021-08-13T13:45:37.468Z,1628862337.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.959999 m, bearing: 40.429461 deg, deltaT: 4.466728 s, approachRate: 0.107460 m/s, LOS rate: -1.455687 deg/s, posRepo size: 4 2021-08-13T13:45:39.891Z,1628862339.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:40.261Z,1628862340.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:40.261Z,1628862340.261 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:40.261Z,1628862340.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:40.262Z,1628862340.262 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:40.645Z,1628862340.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1FB,000,00731,186,80,80,95,FF 2021-08-13T13:45:40.645Z,1628862340.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:40.646Z,1628862340.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:40.647Z,1628862340.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:41.073Z,1628862341.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:41.457Z,1628862341.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,0073F,189,80,80,98,FF 2021-08-13T13:45:41.457Z,1628862341.457 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:41.907Z,1628862341.907 [Micromodem](INFO): Nmea in: $SNTTA,0.054297,,,,134542.17*4E 2021-08-13T13:45:41.958Z,1628862341.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 37.586152 deg, deltaT: 4.445448 s, approachRate: 0.188957 m/s, LOS rate: -0.639600 deg/s, posRepo size: 4 2021-08-13T13:45:44.348Z,1628862344.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:44.695Z,1628862344.695 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:44.696Z,1628862344.696 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:44.697Z,1628862344.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:44.698Z,1628862344.698 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:45.102Z,1628862345.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 236,000,0073F,189,80,80,98,FF 2021-08-13T13:45:45.102Z,1628862345.102 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:45.103Z,1628862345.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:45.109Z,1628862345.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:45.501Z,1628862345.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:45.907Z,1628862345.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00751,189,80,80,59,FF 2021-08-13T13:45:45.907Z,1628862345.907 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:46.329Z,1628862346.329 [Micromodem](INFO): Nmea in: $SNTTA,0.360630,,,,134546.63*44 2021-08-13T13:45:46.382Z,1628862346.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 30.953215 deg, deltaT: 4.467488 s, approachRate: 0.241747 m/s, LOS rate: -1.484713 deg/s, posRepo size: 4 2021-08-13T13:45:48.824Z,1628862348.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:49.138Z,1628862349.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:49.138Z,1628862349.138 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:49.139Z,1628862349.139 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:49.139Z,1628862349.139 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:49.546Z,1628862349.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B7,000,00751,189,80,80,59,FF 2021-08-13T13:45:49.546Z,1628862349.546 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:49.546Z,1628862349.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:49.548Z,1628862349.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:49.971Z,1628862349.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:50.349Z,1628862350.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,0075D,18A,80,80,7D,FF 2021-08-13T13:45:50.349Z,1628862350.349 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:50.385Z,1628862350.385 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-08-13T13:45:50.814Z,1628862350.814 [Micromodem](INFO): Nmea in: $SNTTA,,0.182629,,,134551.07*46 2021-08-13T13:45:50.852Z,1628862350.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.600006 m, bearing: 33.668789 deg, deltaT: 4.432348 s, approachRate: 0.162444 m/s, LOS rate: 0.612672 deg/s, posRepo size: 4 2021-08-13T13:45:53.218Z,1628862353.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:53.577Z,1628862353.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:53.577Z,1628862353.577 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:53.577Z,1628862353.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:53.578Z,1628862353.578 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:53.985Z,1628862353.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 286,000,0075D,18A,80,80,7D,FF 2021-08-13T13:45:53.985Z,1628862353.985 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:53.985Z,1628862353.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:53.987Z,1628862353.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:54.389Z,1628862354.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:54.793Z,1628862354.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A7,000,0076B,189,80,80,62,FF 2021-08-13T13:45:54.794Z,1628862354.794 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:55.229Z,1628862355.229 [Micromodem](INFO): Nmea in: $SNTTA,0.068966,,,,134555.51*40 2021-08-13T13:45:55.263Z,1628862355.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.440010 m, bearing: 31.840184 deg, deltaT: 4.476078 s, approachRate: 0.187665 m/s, LOS rate: -0.408529 deg/s, posRepo size: 4 2021-08-13T13:45:57.651Z,1628862357.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:45:58.029Z,1628862358.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:45:58.030Z,1628862358.030 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:45:58.030Z,1628862358.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:45:58.031Z,1628862358.031 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:45:58.429Z,1628862358.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A7,000,0076B,189,80,80,62,FF 2021-08-13T13:45:58.430Z,1628862358.430 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:45:58.430Z,1628862358.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:45:58.431Z,1628862358.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:45:58.833Z,1628862358.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:45:59.241Z,1628862359.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,0077A,18A,80,80,66,FF 2021-08-13T13:45:59.241Z,1628862359.241 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:45:59.665Z,1628862359.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134559.95*5D 2021-08-13T13:45:59.754Z,1628862359.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.339996 m, bearing: 28.508890 deg, deltaT: 4.384365 s, approachRate: 0.205272 m/s, LOS rate: -0.759812 deg/s, posRepo size: 4 2021-08-13T13:46:00.130Z,1628862360.130 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:46:02.203Z,1628862362.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:02.470Z,1628862362.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:02.471Z,1628862362.471 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:02.471Z,1628862362.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:02.472Z,1628862362.472 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:02.870Z,1628862362.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2E6,000,0077A,18A,80,80,66,FF 2021-08-13T13:46:02.870Z,1628862362.870 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:02.870Z,1628862362.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:02.889Z,1628862362.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:03.281Z,1628862363.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:03.680Z,1628862363.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00788,188,80,80,92,FF 2021-08-13T13:46:03.680Z,1628862363.680 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:04.129Z,1628862364.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134604.41*5F 2021-08-13T13:46:04.192Z,1628862364.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.180000 m, bearing: 37.793117 deg, deltaT: 4.517487 s, approachRate: 0.185945 m/s, LOS rate: 2.055175 deg/s, posRepo size: 4 2021-08-13T13:46:06.533Z,1628862366.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:06.917Z,1628862366.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:06.917Z,1628862366.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:06.917Z,1628862366.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:06.918Z,1628862366.918 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:07.321Z,1628862367.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 22F,000,00788,188,80,80,92,FF 2021-08-13T13:46:07.321Z,1628862367.321 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:07.321Z,1628862367.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:07.323Z,1628862367.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:07.743Z,1628862367.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:08.137Z,1628862368.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00793,189,80,80,73,FF 2021-08-13T13:46:08.137Z,1628862368.137 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:08.165Z,1628862368.165 [Micromodem](INFO): Nmea in: $SNTTA,0.293162,0.293018,,,134608.85*57 2021-08-13T13:46:08.576Z,1628862368.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 38.130098 deg, deltaT: 4.448075 s, approachRate: 0.148380 m/s, LOS rate: 0.075759 deg/s, posRepo size: 4 2021-08-13T13:46:10.167Z,1628862370.167 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:46:10.991Z,1628862370.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:11.354Z,1628862371.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:11.354Z,1628862371.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:11.354Z,1628862371.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:11.355Z,1628862371.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:11.777Z,1628862371.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 22D,000,00793,189,80,80,73,FF 2021-08-13T13:46:11.777Z,1628862371.777 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:11.777Z,1628862371.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:11.779Z,1628862371.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:12.270Z,1628862372.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:12.665Z,1628862372.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,0079F,186,80,80,89,FF 2021-08-13T13:46:12.666Z,1628862372.666 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:13.097Z,1628862373.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134613.30*5F 2021-08-13T13:46:13.150Z,1628862373.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.559998 m, bearing: 44.341445 deg, deltaT: 4.520020 s, approachRate: 0.159290 m/s, LOS rate: 1.374186 deg/s, posRepo size: 4 2021-08-13T13:46:15.533Z,1628862375.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:15.902Z,1628862375.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:15.902Z,1628862375.902 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:15.902Z,1628862375.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:15.903Z,1628862375.903 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:16.313Z,1628862376.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B9,000,0079F,186,80,80,89,FF 2021-08-13T13:46:16.313Z,1628862376.313 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:16.313Z,1628862376.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:16.315Z,1628862376.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:16.747Z,1628862376.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:17.110Z,1628862377.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,007B1,186,80,80,91,FF 2021-08-13T13:46:17.110Z,1628862377.110 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:17.555Z,1628862377.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134617.84*54 2021-08-13T13:46:17.610Z,1628862377.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 41.387227 deg, deltaT: 4.382960 s, approachRate: 0.246409 m/s, LOS rate: -0.674023 deg/s, posRepo size: 4 2021-08-13T13:46:19.994Z,1628862379.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:20.341Z,1628862380.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:20.341Z,1628862380.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:20.341Z,1628862380.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:20.342Z,1628862380.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:20.773Z,1628862380.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1EF,000,007B1,186,80,80,91,FF 2021-08-13T13:46:20.773Z,1628862380.773 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:20.773Z,1628862380.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:20.775Z,1628862380.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:21.160Z,1628862381.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:21.966Z,1628862381.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134622.30*5D 2021-08-13T13:46:22.815Z,1628862382.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:24.389Z,1628862384.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,91,FF 2021-08-13T13:46:24.389Z,1628862384.389 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,91,FF 2021-08-13T13:46:24.390Z,1628862384.390 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:46:25.610Z,1628862385.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:25.998Z,1628862385.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:25.999Z,1628862385.999 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:25.999Z,1628862385.999 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:26.001Z,1628862386.001 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:26.401Z,1628862386.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,91,FF 2021-08-13T13:46:26.401Z,1628862386.401 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:26.401Z,1628862386.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:26.403Z,1628862386.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:26.808Z,1628862386.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:27.218Z,1628862387.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,007CC,18A,80,80,5B,FF 2021-08-13T13:46:27.218Z,1628862387.218 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:27.645Z,1628862387.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134627.93*51 2021-08-13T13:46:27.691Z,1628862387.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.259995 m, bearing: 36.387864 deg, deltaT: 10.107646 s, approachRate: 0.160274 m/s, LOS rate: -0.494612 deg/s, posRepo size: 4 2021-08-13T13:46:30.117Z,1628862390.117 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:46:30.145Z,1628862390.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:30.441Z,1628862390.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:30.441Z,1628862390.441 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:30.441Z,1628862390.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:30.442Z,1628862390.442 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:30.845Z,1628862390.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 246,000,007CC,18A,80,80,5B,FF 2021-08-13T13:46:30.846Z,1628862390.846 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:30.846Z,1628862390.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:30.847Z,1628862390.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:31.281Z,1628862391.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:31.653Z,1628862391.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,007DA,188,80,80,94,FF 2021-08-13T13:46:31.653Z,1628862391.653 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:32.109Z,1628862392.109 [Micromodem](INFO): Nmea in: $SNTTA,0.062171,0.490726,,,134632.37*56 2021-08-13T13:46:32.212Z,1628862392.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 36.558246 deg, deltaT: 4.435735 s, approachRate: 0.189372 m/s, LOS rate: 0.038411 deg/s, posRepo size: 4 2021-08-13T13:46:34.179Z,1628862394.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:34.477Z,1628862394.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:34.477Z,1628862394.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:34.478Z,1628862394.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:34.479Z,1628862394.479 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:34.888Z,1628862394.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 231,000,007DA,188,80,80,94,FF 2021-08-13T13:46:34.889Z,1628862394.889 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:34.889Z,1628862394.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:34.891Z,1628862394.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:35.305Z,1628862395.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:35.706Z,1628862395.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,007E6,189,80,80,94,FF 2021-08-13T13:46:35.708Z,1628862395.708 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:36.142Z,1628862396.142 [Micromodem](INFO): Nmea in: $SNTTA,,0.469162,,,134636.42*4D 2021-08-13T13:46:36.179Z,1628862396.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.820007 m, bearing: 33.952198 deg, deltaT: 4.121180 s, approachRate: 0.174709 m/s, LOS rate: -0.632355 deg/s, posRepo size: 4 2021-08-13T13:46:38.553Z,1628862398.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:38.937Z,1628862398.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:38.937Z,1628862398.937 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:38.937Z,1628862398.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:38.938Z,1628862398.938 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:39.329Z,1628862399.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 267,000,007E6,189,80,80,94,FF 2021-08-13T13:46:39.329Z,1628862399.329 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:39.330Z,1628862399.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:39.331Z,1628862399.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:39.760Z,1628862399.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:40.137Z,1628862400.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25F,000,007F1,188,80,80,80,FF 2021-08-13T13:46:40.138Z,1628862400.138 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:40.141Z,1628862400.141 [Micromodem](INFO): Nmea in: $SNTTA,0.071605,0.249156,,,134640.86*5C 2021-08-13T13:46:40.158Z,1628862400.158 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T13:46:40.567Z,1628862400.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.480003 m, bearing: 33.190912 deg, deltaT: 4.423719 s, approachRate: 0.149195 m/s, LOS rate: -0.172092 deg/s, posRepo size: 4 2021-08-13T13:46:43.014Z,1628862403.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:43.373Z,1628862403.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:43.373Z,1628862403.373 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:43.373Z,1628862403.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:43.374Z,1628862403.374 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:43.781Z,1628862403.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 25F,000,007F1,188,80,80,80,FF 2021-08-13T13:46:43.781Z,1628862403.781 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:43.781Z,1628862403.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:43.783Z,1628862403.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:44.185Z,1628862404.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:44.589Z,1628862404.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,007FF,189,80,80,8D,FF 2021-08-13T13:46:44.590Z,1628862404.590 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:45.038Z,1628862405.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134645.31*5D 2021-08-13T13:46:45.110Z,1628862405.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.320007 m, bearing: 32.776671 deg, deltaT: 4.391225 s, approachRate: 0.191291 m/s, LOS rate: -0.094334 deg/s, posRepo size: 4 2021-08-13T13:46:47.451Z,1628862407.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:47.817Z,1628862407.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:47.817Z,1628862407.817 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:47.817Z,1628862407.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:47.818Z,1628862407.818 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:48.221Z,1628862408.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 25B,000,007FF,189,80,80,8D,FF 2021-08-13T13:46:48.221Z,1628862408.221 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:48.221Z,1628862408.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:48.223Z,1628862408.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:48.645Z,1628862408.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:49.031Z,1628862409.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,0080D,189,80,80,98,FF 2021-08-13T13:46:49.031Z,1628862409.031 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:49.474Z,1628862409.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134649.75*51 2021-08-13T13:46:49.496Z,1628862409.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 28.422698 deg, deltaT: 4.483967 s, approachRate: 0.187332 m/s, LOS rate: -0.971009 deg/s, posRepo size: 4 2021-08-13T13:46:50.272Z,1628862410.272 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:46:51.924Z,1628862411.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:52.269Z,1628862412.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:52.269Z,1628862412.269 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:52.269Z,1628862412.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:52.270Z,1628862412.270 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:52.669Z,1628862412.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B0,000,0080D,189,80,80,98,FF 2021-08-13T13:46:52.669Z,1628862412.669 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:52.669Z,1628862412.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:52.671Z,1628862412.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:53.076Z,1628862413.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:53.477Z,1628862413.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,0081B,189,80,80,90,FF 2021-08-13T13:46:53.477Z,1628862413.477 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:53.913Z,1628862413.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134654.19*57 2021-08-13T13:46:53.950Z,1628862413.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 31.765929 deg, deltaT: 4.443697 s, approachRate: 0.189033 m/s, LOS rate: 0.752353 deg/s, posRepo size: 4 2021-08-13T13:46:56.359Z,1628862416.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:46:56.708Z,1628862416.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:46:56.709Z,1628862416.709 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:46:56.709Z,1628862416.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:46:56.711Z,1628862416.711 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:46:57.117Z,1628862417.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 260,000,0081B,189,80,80,90,FF 2021-08-13T13:46:57.117Z,1628862417.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:46:57.117Z,1628862417.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:46:57.119Z,1628862417.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:46:57.525Z,1628862417.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:46:57.925Z,1628862417.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00827,189,80,80,80,FF 2021-08-13T13:46:57.925Z,1628862417.925 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:46:58.341Z,1628862418.341 [Micromodem](INFO): Nmea in: $SNTTA,0.395447,0.355760,,,134658.64*5B 2021-08-13T13:46:58.389Z,1628862418.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.720001 m, bearing: 26.731204 deg, deltaT: 4.465822 s, approachRate: 0.161225 m/s, LOS rate: -1.127390 deg/s, posRepo size: 4 2021-08-13T13:47:00.801Z,1628862420.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:01.149Z,1628862421.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:01.149Z,1628862421.149 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:01.149Z,1628862421.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:01.150Z,1628862421.150 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:01.553Z,1628862421.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B7,000,00827,189,80,80,80,FF 2021-08-13T13:47:01.553Z,1628862421.553 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:01.553Z,1628862421.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:01.555Z,1628862421.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:01.961Z,1628862421.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:02.357Z,1628862422.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,329,000,00830,189,80,80,67,FF 2021-08-13T13:47:02.358Z,1628862422.358 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:02.361Z,1628862422.361 [Micromodem](INFO): Nmea in: $SNTTA,0.136473,0.136354,,,134703.08*56 2021-08-13T13:47:02.830Z,1628862422.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.260002 m, bearing: 20.475167 deg, deltaT: 4.416366 s, approachRate: 0.122273 m/s, LOS rate: -1.416558 deg/s, posRepo size: 4 2021-08-13T13:47:05.202Z,1628862425.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:05.593Z,1628862425.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:05.593Z,1628862425.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:05.593Z,1628862425.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:05.594Z,1628862425.594 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:06.025Z,1628862426.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 329,000,00830,189,80,80,67,FF 2021-08-13T13:47:06.026Z,1628862426.026 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:06.026Z,1628862426.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:06.033Z,1628862426.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:06.420Z,1628862426.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:06.809Z,1628862426.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D2,000,00842,189,80,80,5F,FF 2021-08-13T13:47:06.810Z,1628862426.810 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:07.231Z,1628862427.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134707.56*5B 2021-08-13T13:47:07.268Z,1628862427.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 24.223811 deg, deltaT: 4.499244 s, approachRate: 0.240041 m/s, LOS rate: 0.833172 deg/s, posRepo size: 4 2021-08-13T13:47:09.654Z,1628862429.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:10.064Z,1628862430.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:10.065Z,1628862430.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:10.065Z,1628862430.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:10.066Z,1628862430.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:10.449Z,1628862430.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2D2,000,00842,189,80,80,5F,FF 2021-08-13T13:47:10.449Z,1628862430.449 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:10.449Z,1628862430.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:10.451Z,1628862430.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:10.849Z,1628862430.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:11.265Z,1628862431.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,0084E,189,80,80,6E,FF 2021-08-13T13:47:11.265Z,1628862431.265 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:11.705Z,1628862431.705 [Micromodem](INFO): Nmea in: $SNTTA,0.070271,,,,134711.97*4C 2021-08-13T13:47:11.766Z,1628862431.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.060005 m, bearing: 24.328820 deg, deltaT: 4.390777 s, approachRate: 0.163980 m/s, LOS rate: 0.023916 deg/s, posRepo size: 4 2021-08-13T13:47:14.157Z,1628862434.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:14.493Z,1628862434.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:14.494Z,1628862434.494 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:14.494Z,1628862434.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:14.495Z,1628862434.495 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:14.886Z,1628862434.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2D4,000,0084E,189,80,80,6E,FF 2021-08-13T13:47:14.886Z,1628862434.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:14.886Z,1628862434.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:14.889Z,1628862434.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:15.308Z,1628862435.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:15.695Z,1628862435.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,0085A,189,80,80,7C,FF 2021-08-13T13:47:15.698Z,1628862435.698 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:16.141Z,1628862436.141 [Micromodem](INFO): Nmea in: $SNTTA,0.469578,0.469410,,,134716.41*52 2021-08-13T13:47:16.227Z,1628862436.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.779999 m, bearing: 24.876268 deg, deltaT: 4.462885 s, approachRate: 0.161329 m/s, LOS rate: 0.122667 deg/s, posRepo size: 4 2021-08-13T13:47:18.570Z,1628862438.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:18.949Z,1628862438.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:18.949Z,1628862438.949 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:18.949Z,1628862438.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:18.950Z,1628862438.950 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:19.349Z,1628862439.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2C9,000,0085A,189,80,80,7C,FF 2021-08-13T13:47:19.349Z,1628862439.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:19.349Z,1628862439.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:19.351Z,1628862439.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:19.785Z,1628862439.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:20.201Z,1628862440.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00869,189,80,80,84,FF 2021-08-13T13:47:20.202Z,1628862440.202 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:20.205Z,1628862440.205 [Micromodem](INFO): Nmea in: $SNTTA,0.277521,0.277403,,,134720.88*5C 2021-08-13T13:47:20.621Z,1628862440.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.680008 m, bearing: 26.173620 deg, deltaT: 4.500208 s, approachRate: 0.199993 m/s, LOS rate: 0.288287 deg/s, posRepo size: 4 2021-08-13T13:47:23.032Z,1628862443.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:23.397Z,1628862443.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:23.397Z,1628862443.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:23.397Z,1628862443.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:23.398Z,1628862443.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:23.802Z,1628862443.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B0,000,00869,189,80,80,84,FF 2021-08-13T13:47:23.803Z,1628862443.803 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:23.803Z,1628862443.803 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:23.805Z,1628862443.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:24.217Z,1628862444.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:24.613Z,1628862444.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,00876,189,80,80,4F,FF 2021-08-13T13:47:24.613Z,1628862444.613 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:25.056Z,1628862445.056 [Micromodem](INFO): Nmea in: $SNTTA,0.066637,,,,134725.33*44 2021-08-13T13:47:25.150Z,1628862445.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 28.853137 deg, deltaT: 4.361184 s, approachRate: 0.178848 m/s, LOS rate: 0.614401 deg/s, posRepo size: 4 2021-08-13T13:47:27.481Z,1628862447.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:27.837Z,1628862447.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:27.837Z,1628862447.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:27.837Z,1628862447.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:27.838Z,1628862447.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:28.254Z,1628862448.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 27E,000,00876,189,80,80,4F,FF 2021-08-13T13:47:28.254Z,1628862448.254 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:28.254Z,1628862448.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:28.258Z,1628862448.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:28.649Z,1628862448.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:29.054Z,1628862449.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00882,187,80,80,40,FF 2021-08-13T13:47:29.055Z,1628862449.055 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:29.489Z,1628862449.489 [Micromodem](INFO): Nmea in: $SNTTA,0.068315,,,,134729.78*4C 2021-08-13T13:47:29.523Z,1628862449.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 78.675242 deg, deltaT: 4.489319 s, approachRate: 0.160381 m/s, LOS rate: 11.097920 deg/s, posRepo size: 4 2021-08-13T13:47:31.925Z,1628862451.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:32.295Z,1628862452.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:32.295Z,1628862452.295 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:32.295Z,1628862452.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:32.300Z,1628862452.300 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:32.689Z,1628862452.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA4,000,00882,187,80,80,40,FF 2021-08-13T13:47:32.689Z,1628862452.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:32.689Z,1628862452.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:32.691Z,1628862452.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:33.099Z,1628862453.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:33.502Z,1628862453.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00892,186,80,80,81,FF 2021-08-13T13:47:33.503Z,1628862453.503 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:33.946Z,1628862453.946 [Micromodem](INFO): Nmea in: $SNTTA,0.078343,,,,134734.21*4E 2021-08-13T13:47:34.046Z,1628862454.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.140007 m, bearing: 35.951285 deg, deltaT: 4.399918 s, approachRate: 0.218187 m/s, LOS rate: -9.710171 deg/s, posRepo size: 4 2021-08-13T13:47:36.391Z,1628862456.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:36.745Z,1628862456.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:36.745Z,1628862456.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:36.745Z,1628862456.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:36.746Z,1628862456.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:37.141Z,1628862457.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F7,000,00892,186,80,80,81,FF 2021-08-13T13:47:37.142Z,1628862457.142 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:37.142Z,1628862457.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:37.176Z,1628862457.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:37.533Z,1628862457.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:37.941Z,1628862457.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,0089B,186,80,80,75,FF 2021-08-13T13:47:37.942Z,1628862457.942 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:38.367Z,1628862458.367 [Micromodem](INFO): Nmea in: $SNTTA,0.068996,,,,134738.70*45 2021-08-13T13:47:38.420Z,1628862458.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.680000 m, bearing: 47.038693 deg, deltaT: 4.554046 s, approachRate: 0.118574 m/s, LOS rate: 2.434628 deg/s, posRepo size: 4 2021-08-13T13:47:40.829Z,1628862460.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:41.181Z,1628862461.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:41.181Z,1628862461.181 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:41.181Z,1628862461.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:41.182Z,1628862461.182 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:41.573Z,1628862461.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 120,000,0089B,186,80,80,75,FF 2021-08-13T13:47:41.573Z,1628862461.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:41.573Z,1628862461.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:41.575Z,1628862461.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:41.985Z,1628862461.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:42.381Z,1628862462.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,008A7,187,80,80,4F,FF 2021-08-13T13:47:42.381Z,1628862462.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:42.825Z,1628862462.825 [Micromodem](INFO): Nmea in: $SNTTA,0.063004,,,,134743.10*46 2021-08-13T13:47:42.909Z,1628862462.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.400009 m, bearing: 54.595468 deg, deltaT: 4.380540 s, approachRate: 0.164365 m/s, LOS rate: 1.725078 deg/s, posRepo size: 4 2021-08-13T13:47:45.241Z,1628862465.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:45.613Z,1628862465.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:45.613Z,1628862465.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:45.613Z,1628862465.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:45.614Z,1628862465.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:46.029Z,1628862466.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 08C,000,008A7,187,80,80,4F,FF 2021-08-13T13:47:46.030Z,1628862466.030 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:46.031Z,1628862466.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:46.038Z,1628862466.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:46.421Z,1628862466.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:46.829Z,1628862466.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,008B5,188,80,80,94,FF 2021-08-13T13:47:46.830Z,1628862466.830 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:47.265Z,1628862467.265 [Micromodem](INFO): Nmea in: $SNTTA,0.088304,,,,134747.56*46 2021-08-13T13:47:47.281Z,1628862467.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 34.457959 deg, deltaT: 4.469031 s, approachRate: 0.187959 m/s, LOS rate: -4.506012 deg/s, posRepo size: 4 2021-08-13T13:47:49.682Z,1628862469.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:50.115Z,1628862470.115 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:50.117Z,1628862470.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:50.120Z,1628862470.120 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:50.133Z,1628862470.133 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:50.461Z,1628862470.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 222,000,008B5,188,80,80,94,FF 2021-08-13T13:47:50.461Z,1628862470.461 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:50.461Z,1628862470.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:50.463Z,1628862470.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:50.871Z,1628862470.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:51.281Z,1628862471.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,008C4,187,80,80,70,FF 2021-08-13T13:47:51.281Z,1628862471.281 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:51.733Z,1628862471.733 [Micromodem](INFO): Nmea in: $SNTTA,0.073377,,,,134751.99*42 2021-08-13T13:47:51.787Z,1628862471.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.139999 m, bearing: 35.336223 deg, deltaT: 4.374399 s, approachRate: 0.205741 m/s, LOS rate: 0.200773 deg/s, posRepo size: 4 2021-08-13T13:47:54.174Z,1628862474.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:54.509Z,1628862474.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:54.509Z,1628862474.509 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:54.509Z,1628862474.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:54.510Z,1628862474.510 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:54.909Z,1628862474.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 20F,000,008C4,187,80,80,70,FF 2021-08-13T13:47:54.909Z,1628862474.909 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:54.909Z,1628862474.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:54.911Z,1628862474.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:55.324Z,1628862475.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:47:55.724Z,1628862475.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0092B,189,80,80,64,FF 2021-08-13T13:47:55.726Z,1628862475.726 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:47:56.141Z,1628862476.141 [Micromodem](INFO): Nmea in: $SNTTA,0.077595,0.457289,,,134756.44*50 2021-08-13T13:47:56.193Z,1628862476.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 30.516770 deg, deltaT: 4.501906 s, approachRate: 1.372752 m/s, LOS rate: -1.070536 deg/s, posRepo size: 4 2021-08-13T13:47:58.585Z,1628862478.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:47:58.953Z,1628862478.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:47:58.953Z,1628862478.953 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:47:58.953Z,1628862478.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:47:58.954Z,1628862478.954 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:47:59.354Z,1628862479.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 272,000,0092B,189,80,80,64,FF 2021-08-13T13:47:59.354Z,1628862479.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:47:59.354Z,1628862479.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:47:59.360Z,1628862479.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:47:59.787Z,1628862479.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:00.205Z,1628862480.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,008DC,188,80,80,85,FF 2021-08-13T13:48:00.206Z,1628862480.206 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:00.209Z,1628862480.209 [Micromodem](INFO): Nmea in: $SNTTA,0.274762,0.233267,,,134800.88*53 2021-08-13T13:48:00.607Z,1628862480.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.580002 m, bearing: 34.273906 deg, deltaT: 4.476435 s, approachRate: -1.058878 m/s, LOS rate: 0.839315 deg/s, posRepo size: 4 2021-08-13T13:48:03.030Z,1628862483.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:03.397Z,1628862483.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:03.397Z,1628862483.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:03.397Z,1628862483.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:03.398Z,1628862483.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:03.803Z,1628862483.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 225,000,008DC,188,80,80,85,FF 2021-08-13T13:48:03.803Z,1628862483.803 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:03.803Z,1628862483.803 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:03.805Z,1628862483.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:04.206Z,1628862484.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:04.609Z,1628862484.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,008E9,18A,80,80,75,FF 2021-08-13T13:48:04.610Z,1628862484.610 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:05.046Z,1628862485.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.360008 m, bearing: 26.748628 deg, deltaT: 4.350711 s, approachRate: 0.179283 m/s, LOS rate: -1.729666 deg/s, posRepo size: 4 2021-08-13T13:48:07.467Z,1628862487.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:07.841Z,1628862487.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:07.841Z,1628862487.841 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:07.841Z,1628862487.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:07.842Z,1628862487.842 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:08.245Z,1628862488.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2BC,000,008E9,18A,80,80,75,FF 2021-08-13T13:48:08.245Z,1628862488.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:08.245Z,1628862488.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:08.247Z,1628862488.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:08.649Z,1628862488.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:09.049Z,1628862489.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,008F9,186,80,80,5F,FF 2021-08-13T13:48:09.049Z,1628862489.049 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:09.493Z,1628862489.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134809.77*59 2021-08-13T13:48:09.523Z,1628862489.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 54.533327 deg, deltaT: 4.449228 s, approachRate: 0.215768 m/s, LOS rate: 6.244836 deg/s, posRepo size: 4 2021-08-13T13:48:11.930Z,1628862491.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:12.285Z,1628862492.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:12.285Z,1628862492.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:12.285Z,1628862492.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:12.286Z,1628862492.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:12.689Z,1628862492.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 094,000,008F9,186,80,80,5F,FF 2021-08-13T13:48:12.689Z,1628862492.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:12.689Z,1628862492.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:12.691Z,1628862492.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:13.100Z,1628862493.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:13.498Z,1628862493.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,00909,189,80,80,69,FF 2021-08-13T13:48:13.498Z,1628862493.498 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:13.937Z,1628862493.937 [Micromodem](INFO): Nmea in: $SNTTA,0.077116,,,,134814.22*4D 2021-08-13T13:48:13.985Z,1628862493.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 30.088950 deg, deltaT: 4.438556 s, approachRate: 0.216285 m/s, LOS rate: -5.507281 deg/s, posRepo size: 4 2021-08-13T13:48:16.373Z,1628862496.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:16.737Z,1628862496.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:16.737Z,1628862496.737 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:16.737Z,1628862496.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:16.738Z,1628862496.738 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:17.137Z,1628862497.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 283,000,00909,189,80,80,69,FF 2021-08-13T13:48:17.137Z,1628862497.137 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:17.137Z,1628862497.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:17.139Z,1628862497.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:17.542Z,1628862497.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:17.949Z,1628862497.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00916,186,80,80,53,FF 2021-08-13T13:48:17.950Z,1628862497.950 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:18.358Z,1628862498.358 [Micromodem](INFO): Nmea in: $SNTTA,0.073832,0.344188,,,134818.66*56 2021-08-13T13:48:18.410Z,1628862498.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.059998 m, bearing: 76.739955 deg, deltaT: 4.466079 s, approachRate: 0.174650 m/s, LOS rate: 10.445629 deg/s, posRepo size: 4 2021-08-13T13:48:20.812Z,1628862500.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:21.169Z,1628862501.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:21.169Z,1628862501.169 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:21.169Z,1628862501.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:21.170Z,1628862501.170 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:21.569Z,1628862501.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDC,000,00916,186,80,80,53,FF 2021-08-13T13:48:21.570Z,1628862501.570 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:21.570Z,1628862501.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:21.571Z,1628862501.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:21.987Z,1628862501.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:22.397Z,1628862502.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,0091A,187,80,80,58,FF 2021-08-13T13:48:22.397Z,1628862502.397 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:22.406Z,1628862502.406 [Micromodem](INFO): Nmea in: $SNTTA,0.167170,0.167670,,,134823.10*57 2021-08-13T13:48:22.830Z,1628862502.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 87.165419 deg, deltaT: 4.481291 s, approachRate: 0.053557 m/s, LOS rate: 2.326442 deg/s, posRepo size: 4 2021-08-13T13:48:25.262Z,1628862505.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:25.617Z,1628862505.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:25.617Z,1628862505.617 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:25.618Z,1628862505.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:25.618Z,1628862505.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:26.044Z,1628862506.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E10,000,0091A,187,80,80,58,FF 2021-08-13T13:48:26.045Z,1628862506.045 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:26.046Z,1628862506.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:26.060Z,1628862506.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:26.435Z,1628862506.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:26.838Z,1628862506.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,00929,189,80,80,7D,FF 2021-08-13T13:48:26.838Z,1628862506.838 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:27.259Z,1628862507.259 [Micromodem](INFO): Nmea in: $SNTTA,0.083535,,,,134827.58*4E 2021-08-13T13:48:27.289Z,1628862507.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 35.062455 deg, deltaT: 4.404899 s, approachRate: 0.204318 m/s, LOS rate: -11.828413 deg/s, posRepo size: 4 2021-08-13T13:48:29.690Z,1628862509.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:30.101Z,1628862510.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:30.101Z,1628862510.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:30.101Z,1628862510.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:30.102Z,1628862510.102 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:30.477Z,1628862510.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 224,000,00929,189,80,80,7D,FF 2021-08-13T13:48:30.477Z,1628862510.477 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:30.477Z,1628862510.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:30.479Z,1628862510.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:30.875Z,1628862510.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:31.286Z,1628862511.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,0097F,187,80,80,6A,FF 2021-08-13T13:48:31.286Z,1628862511.286 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:31.717Z,1628862511.717 [Micromodem](INFO): Nmea in: $SNTTA,0.100552,,,,134832.01*4D 2021-08-13T13:48:31.779Z,1628862511.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.360001 m, bearing: 35.982246 deg, deltaT: 4.441389 s, approachRate: 1.161798 m/s, LOS rate: 0.207095 deg/s, posRepo size: 4 2021-08-13T13:48:34.178Z,1628862514.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:34.505Z,1628862514.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:34.505Z,1628862514.505 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:34.505Z,1628862514.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:34.506Z,1628862514.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:34.921Z,1628862514.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 215,000,0097F,187,80,80,6A,FF 2021-08-13T13:48:34.921Z,1628862514.921 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:34.921Z,1628862514.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:34.923Z,1628862514.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:35.317Z,1628862515.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:35.729Z,1628862515.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00943,188,80,80,5E,FF 2021-08-13T13:48:35.730Z,1628862515.730 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:36.166Z,1628862516.166 [Micromodem](INFO): Nmea in: $SNTTA,0.081040,,,,134836.45*47 2021-08-13T13:48:36.202Z,1628862516.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.760002 m, bearing: 35.941582 deg, deltaT: 4.476091 s, approachRate: -0.804273 m/s, LOS rate: -0.009085 deg/s, posRepo size: 4 2021-08-13T13:48:38.577Z,1628862518.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:38.961Z,1628862518.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:38.961Z,1628862518.961 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:38.961Z,1628862518.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:38.962Z,1628862518.962 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:39.349Z,1628862519.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 21A,000,00943,188,80,80,5E,FF 2021-08-13T13:48:39.349Z,1628862519.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:39.349Z,1628862519.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:39.351Z,1628862519.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:39.784Z,1628862519.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:40.197Z,1628862520.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00957,187,80,80,70,FF 2021-08-13T13:48:40.197Z,1628862520.197 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:40.201Z,1628862520.201 [Micromodem](INFO): Nmea in: $SNTTA,0.280598,0.239485,,,134840.87*54 2021-08-13T13:48:40.619Z,1628862520.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 36.337084 deg, deltaT: 4.471407 s, approachRate: 0.268373 m/s, LOS rate: 0.088451 deg/s, posRepo size: 4 2021-08-13T13:48:43.040Z,1628862523.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:43.393Z,1628862523.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:43.393Z,1628862523.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:43.393Z,1628862523.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:43.394Z,1628862523.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:43.817Z,1628862523.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 21A,000,00957,187,80,80,70,FF 2021-08-13T13:48:43.817Z,1628862523.817 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:43.818Z,1628862523.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:43.819Z,1628862523.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:44.205Z,1628862524.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:44.614Z,1628862524.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,219,000,00961,188,80,80,60,FF 2021-08-13T13:48:44.614Z,1628862524.614 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:45.053Z,1628862525.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.560005 m, bearing: 36.140508 deg, deltaT: 4.376520 s, approachRate: 0.137095 m/s, LOS rate: -0.044916 deg/s, posRepo size: 4 2021-08-13T13:48:47.454Z,1628862527.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:47.845Z,1628862527.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:47.845Z,1628862527.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:47.846Z,1628862527.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:47.847Z,1628862527.847 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:48.249Z,1628862528.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 219,000,00961,188,80,80,60,FF 2021-08-13T13:48:48.249Z,1628862528.249 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:48.250Z,1628862528.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:48.251Z,1628862528.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:48.654Z,1628862528.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:49.054Z,1628862529.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D4,000,0096D,186,80,80,77,FF 2021-08-13T13:48:49.054Z,1628862529.054 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:49.497Z,1628862529.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134849.78*52 2021-08-13T13:48:49.527Z,1628862529.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 39.573382 deg, deltaT: 4.448305 s, approachRate: 0.161858 m/s, LOS rate: 0.771726 deg/s, posRepo size: 4 2021-08-13T13:48:51.936Z,1628862531.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:52.281Z,1628862532.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:52.281Z,1628862532.281 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:52.281Z,1628862532.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:52.282Z,1628862532.282 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:52.689Z,1628862532.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D4,000,0096D,186,80,80,77,FF 2021-08-13T13:48:52.689Z,1628862532.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:52.689Z,1628862532.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:52.692Z,1628862532.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:53.101Z,1628862533.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:53.498Z,1628862533.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,0097B,187,80,80,77,FF 2021-08-13T13:48:53.499Z,1628862533.499 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:53.930Z,1628862533.930 [Micromodem](INFO): Nmea in: $SNTTA,0.104809,,,,134854.22*4B 2021-08-13T13:48:53.956Z,1628862533.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.120003 m, bearing: 37.987204 deg, deltaT: 4.479184 s, approachRate: 0.187535 m/s, LOS rate: -0.354122 deg/s, posRepo size: 4 2021-08-13T13:48:56.375Z,1628862536.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:48:56.741Z,1628862536.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:48:56.741Z,1628862536.741 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:48:56.741Z,1628862536.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:48:56.742Z,1628862536.742 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:48:57.129Z,1628862537.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F9,000,0097B,187,80,80,77,FF 2021-08-13T13:48:57.129Z,1628862537.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:48:57.129Z,1628862537.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:48:57.131Z,1628862537.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:48:57.545Z,1628862537.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:48:57.945Z,1628862537.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00520,186,80,80,6F,FF 2021-08-13T13:48:57.946Z,1628862537.946 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:48:58.365Z,1628862538.365 [Micromodem](INFO): Nmea in: $SNTTA,0.115894,,,,134858.66*43 2021-08-13T13:48:58.433Z,1628862538.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 40.265061 deg, deltaT: 4.439556 s, approachRate: -15.069075 m/s, LOS rate: 0.513082 deg/s, posRepo size: 4 2021-08-13T13:49:00.835Z,1628862540.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:01.177Z,1628862541.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:01.177Z,1628862541.177 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:01.178Z,1628862541.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:01.179Z,1628862541.179 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:01.573Z,1628862541.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1CF,000,00520,186,80,80,6F,FF 2021-08-13T13:49:01.573Z,1628862541.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:01.573Z,1628862541.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:01.575Z,1628862541.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:01.985Z,1628862541.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:02.381Z,1628862542.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,00992,186,80,80,8E,FF 2021-08-13T13:49:02.381Z,1628862542.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:02.814Z,1628862542.814 [Micromodem](INFO): Nmea in: $SNTTA,0.077383,,,,134903.10*45 2021-08-13T13:49:02.840Z,1628862542.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.500000 m, bearing: 42.309812 deg, deltaT: 4.490158 s, approachRate: 15.206592 m/s, LOS rate: 0.455385 deg/s, posRepo size: 4 2021-08-13T13:49:05.279Z,1628862545.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:05.625Z,1628862545.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:05.625Z,1628862545.625 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:05.626Z,1628862545.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:05.626Z,1628862545.626 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:06.029Z,1628862546.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1A2,000,00992,186,80,80,8E,FF 2021-08-13T13:49:06.029Z,1628862546.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:06.029Z,1628862546.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:06.035Z,1628862546.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:06.424Z,1628862546.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:06.829Z,1628862546.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,0099C,186,80,80,90,FF 2021-08-13T13:49:06.829Z,1628862546.829 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:07.257Z,1628862547.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134907.56*55 2021-08-13T13:49:07.293Z,1628862547.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 43.804469 deg, deltaT: 4.402554 s, approachRate: 0.136284 m/s, LOS rate: 0.339498 deg/s, posRepo size: 4 2021-08-13T13:49:09.677Z,1628862549.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:10.109Z,1628862550.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:10.109Z,1628862550.109 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:10.109Z,1628862550.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:10.110Z,1628862550.110 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:10.477Z,1628862550.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 187,000,0099C,186,80,80,90,FF 2021-08-13T13:49:10.477Z,1628862550.477 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:10.477Z,1628862550.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:10.479Z,1628862550.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:10.949Z,1628862550.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:11.345Z,1628862551.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,009AE,186,80,80,9B,FF 2021-08-13T13:49:11.345Z,1628862551.345 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:11.794Z,1628862551.794 [Micromodem](INFO): Nmea in: $SNTTA,0.100542,,,,134912.00*4E 2021-08-13T13:49:11.826Z,1628862551.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.180000 m, bearing: 39.661515 deg, deltaT: 4.505616 s, approachRate: 0.239701 m/s, LOS rate: -0.919509 deg/s, posRepo size: 4 2021-08-13T13:49:14.207Z,1628862554.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:14.573Z,1628862554.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:14.573Z,1628862554.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:14.573Z,1628862554.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:14.574Z,1628862554.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:14.977Z,1628862554.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D5,000,009AE,186,80,80,9B,FF 2021-08-13T13:49:14.977Z,1628862554.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:14.978Z,1628862554.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:14.980Z,1628862554.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:15.384Z,1628862555.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:15.790Z,1628862555.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,009BA,186,80,80,7F,FF 2021-08-13T13:49:15.790Z,1628862555.790 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:16.229Z,1628862556.229 [Micromodem](INFO): Nmea in: $SNTTA,0.079412,,,,134916.50*44 2021-08-13T13:49:16.329Z,1628862556.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.900009 m, bearing: 40.866630 deg, deltaT: 4.418568 s, approachRate: 0.162951 m/s, LOS rate: 0.272739 deg/s, posRepo size: 4 2021-08-13T13:49:18.654Z,1628862558.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:19.013Z,1628862559.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:19.013Z,1628862559.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:19.013Z,1628862559.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:19.014Z,1628862559.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:19.417Z,1628862559.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1BD,000,009BA,186,80,80,7F,FF 2021-08-13T13:49:19.417Z,1628862559.417 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:19.417Z,1628862559.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:19.419Z,1628862559.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:19.833Z,1628862559.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:20.257Z,1628862560.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,009C7,186,80,80,9B,FF 2021-08-13T13:49:20.258Z,1628862560.258 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:20.681Z,1628862560.681 [Micromodem](INFO): Nmea in: $SNTTA,,0.245071,,,134920.94*45 2021-08-13T13:49:20.750Z,1628862560.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.680000 m, bearing: 48.819747 deg, deltaT: 4.481788 s, approachRate: 0.174036 m/s, LOS rate: 1.774541 deg/s, posRepo size: 4 2021-08-13T13:49:23.095Z,1628862563.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:23.461Z,1628862563.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:23.461Z,1628862563.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:23.461Z,1628862563.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:23.462Z,1628862563.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:23.870Z,1628862563.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 120,000,009C7,186,80,80,9B,FF 2021-08-13T13:49:23.870Z,1628862563.870 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:23.870Z,1628862563.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:23.873Z,1628862563.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:24.288Z,1628862564.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:25.106Z,1628862565.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134925.40*52 2021-08-13T13:49:25.934Z,1628862565.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:27.505Z,1628862567.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 7,186,80,80,9B,FF 2021-08-13T13:49:27.505Z,1628862567.505 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 7,186,80,80,9B,FF 2021-08-13T13:49:27.505Z,1628862567.505 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:49:28.768Z,1628862568.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:29.117Z,1628862569.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:29.117Z,1628862569.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:29.117Z,1628862569.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:29.118Z,1628862569.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:29.521Z,1628862569.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 7,186,80,80,9B,FF 2021-08-13T13:49:29.521Z,1628862569.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:29.522Z,1628862569.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:29.523Z,1628862569.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:29.941Z,1628862569.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:30.337Z,1628862570.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,009E6,186,80,80,7F,FF 2021-08-13T13:49:30.338Z,1628862570.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:30.785Z,1628862570.785 [Micromodem](INFO): Nmea in: $SNTTA,0.093517,,,,134931.05*41 2021-08-13T13:49:30.814Z,1628862570.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 45.877059 deg, deltaT: 10.094862 s, approachRate: 0.184252 m/s, LOS rate: -0.291504 deg/s, posRepo size: 4 2021-08-13T13:49:33.193Z,1628862573.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:33.561Z,1628862573.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:33.561Z,1628862573.561 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:33.561Z,1628862573.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:33.562Z,1628862573.562 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:33.969Z,1628862573.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 163,000,009E6,186,80,80,7F,FF 2021-08-13T13:49:33.969Z,1628862573.969 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:33.970Z,1628862573.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:33.971Z,1628862573.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:34.384Z,1628862574.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:34.785Z,1628862574.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,009F5,186,80,80,62,FF 2021-08-13T13:49:34.786Z,1628862574.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:35.233Z,1628862575.233 [Micromodem](INFO): Nmea in: $SNTTA,0.076434,,,,134935.50*4E 2021-08-13T13:49:35.268Z,1628862575.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.440010 m, bearing: 40.217817 deg, deltaT: 4.420355 s, approachRate: 0.203606 m/s, LOS rate: -1.280269 deg/s, posRepo size: 4 2021-08-13T13:49:37.618Z,1628862577.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:38.016Z,1628862578.016 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:38.016Z,1628862578.016 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:38.017Z,1628862578.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:38.018Z,1628862578.018 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:38.409Z,1628862578.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D5,000,009F5,186,80,80,62,FF 2021-08-13T13:49:38.409Z,1628862578.409 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:38.409Z,1628862578.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:38.411Z,1628862578.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:38.817Z,1628862578.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:39.230Z,1628862579.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,009FE,187,80,80,84,FF 2021-08-13T13:49:39.230Z,1628862579.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:39.657Z,1628862579.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134939.94*56 2021-08-13T13:49:39.742Z,1628862579.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 51.322400 deg, deltaT: 4.438087 s, approachRate: 0.121673 m/s, LOS rate: 2.502110 deg/s, posRepo size: 4 2021-08-13T13:49:42.167Z,1628862582.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:42.457Z,1628862582.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:42.457Z,1628862582.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:42.458Z,1628862582.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:42.458Z,1628862582.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:42.861Z,1628862582.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0FB,000,009FE,187,80,80,84,FF 2021-08-13T13:49:42.861Z,1628862582.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:42.862Z,1628862582.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:42.863Z,1628862582.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:43.269Z,1628862583.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:43.669Z,1628862583.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00A0E,186,80,80,9A,FF 2021-08-13T13:49:43.669Z,1628862583.669 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:44.114Z,1628862584.114 [Micromodem](INFO): Nmea in: $SNTTA,0.081028,,,,134944.39*46 2021-08-13T13:49:44.188Z,1628862584.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.940002 m, bearing: 54.708319 deg, deltaT: 4.484276 s, approachRate: 0.214081 m/s, LOS rate: 0.755065 deg/s, posRepo size: 4 2021-08-13T13:49:46.522Z,1628862586.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:46.890Z,1628862586.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:46.890Z,1628862586.890 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:46.890Z,1628862586.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:46.891Z,1628862586.891 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:47.301Z,1628862587.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B5,000,00A0E,186,80,80,9A,FF 2021-08-13T13:49:47.302Z,1628862587.302 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:47.302Z,1628862587.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:47.303Z,1628862587.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:47.718Z,1628862587.718 [CTD_Seabird](ERROR): Failed to parse device response: 5.71,23.8851,4.75368, 2021-08-13T13:49:47.745Z,1628862587.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:48.117Z,1628862588.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B6,000,00A1E,185,80,80,7C,FF 2021-08-13T13:49:48.117Z,1628862588.117 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:49:48.121Z,1628862588.121 [Micromodem](INFO): Nmea in: $SNTTA,0.260856,0.260481,,,134948.83*50 2021-08-13T13:49:48.547Z,1628862588.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.900009 m, bearing: 54.721867 deg, deltaT: 4.456905 s, approachRate: 0.215398 m/s, LOS rate: 0.003040 deg/s, posRepo size: 4 2021-08-13T13:49:50.985Z,1628862590.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:51.341Z,1628862591.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:51.341Z,1628862591.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:51.342Z,1628862591.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:51.342Z,1628862591.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:51.778Z,1628862591.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B6,000,00A1E,185,80,80,7C,FF 2021-08-13T13:49:51.779Z,1628862591.779 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:51.779Z,1628862591.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:51.781Z,1628862591.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:52.177Z,1628862592.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:53.836Z,1628862593.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:55.385Z,1628862595.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:49:55.385Z,1628862595.385 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:49:55.385Z,1628862595.385 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:49:56.610Z,1628862596.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:49:57.005Z,1628862597.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:49:57.005Z,1628862597.005 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:49:57.005Z,1628862597.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:49:57.006Z,1628862597.006 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:49:57.397Z,1628862597.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:49:57.397Z,1628862597.397 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:49:57.398Z,1628862597.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:49:57.399Z,1628862597.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:49:57.819Z,1628862597.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:49:58.222Z,1628862598.222 [Micromodem](INFO): Nmea in: $SNTTA,0.215163,0.214194,,,134958.92*5E 2021-08-13T13:49:59.445Z,1628862599.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:01.041Z,1628862601.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:01.042Z,1628862601.042 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:01.042Z,1628862601.042 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:50:02.278Z,1628862602.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:02.654Z,1628862602.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:02.654Z,1628862602.654 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:02.654Z,1628862602.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:02.655Z,1628862602.655 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:03.053Z,1628862603.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:03.053Z,1628862603.053 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:03.054Z,1628862603.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:03.055Z,1628862603.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:03.464Z,1628862603.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:04.275Z,1628862604.275 [Micromodem](INFO): Nmea in: $SNTTA,0.427077,0.427171,,,135004.58*57 2021-08-13T13:50:05.124Z,1628862605.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:06.695Z,1628862606.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:06.696Z,1628862606.696 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:06.697Z,1628862606.697 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:50:07.949Z,1628862607.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:08.309Z,1628862608.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:08.309Z,1628862608.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:08.309Z,1628862608.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:08.310Z,1628862608.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:08.728Z,1628862608.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:08.729Z,1628862608.729 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:08.729Z,1628862608.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:08.735Z,1628862608.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:09.121Z,1628862609.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:09.949Z,1628862609.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135010.26*5C 2021-08-13T13:50:10.802Z,1628862610.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:12.359Z,1628862612.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:12.359Z,1628862612.359 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:12.359Z,1628862612.359 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:50:13.574Z,1628862613.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:13.983Z,1628862613.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:13.983Z,1628862613.983 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:13.983Z,1628862613.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:13.984Z,1628862613.984 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:14.373Z,1628862614.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:14.373Z,1628862614.373 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:14.373Z,1628862614.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:14.375Z,1628862614.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:14.793Z,1628862614.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:15.611Z,1628862615.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135015.90*54 2021-08-13T13:50:16.076Z,1628862616.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:18.017Z,1628862618.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:18.018Z,1628862618.018 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:18.019Z,1628862618.019 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:50:18.890Z,1628862618.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:19.217Z,1628862619.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:19.217Z,1628862619.217 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:19.217Z,1628862619.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:19.218Z,1628862619.218 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:19.629Z,1628862619.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,185,80,80,7C,FF 2021-08-13T13:50:19.629Z,1628862619.629 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:19.630Z,1628862619.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:19.633Z,1628862619.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:20.063Z,1628862620.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:20.430Z,1628862620.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,00A7D,186,80,80,8C,FF 2021-08-13T13:50:20.430Z,1628862620.430 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:20.460Z,1628862620.460 [Micromodem](INFO): Nmea in: $SNTTA,0.138363,0.138226,,,135021.16*5D 2021-08-13T13:50:20.887Z,1628862620.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 40.487814 deg, deltaT: 32.317668 s, approachRate: 0.176374 m/s, LOS rate: -0.440442 deg/s, posRepo size: 4 2021-08-13T13:50:21.302Z,1628862621.302 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T13:50:21.302Z,1628862621.302 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T13:50:21.303Z,1628862621.303 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T13:50:21.303Z,1628862621.303 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T13:50:21.303Z,1628862621.303 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T13:50:21.836Z,1628862621.836 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE 2021-08-13T13:50:21.836Z,1628862621.836 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 2021-08-13T13:50:21.837Z,1628862621.837 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4 2021-08-13T13:50:21.837Z,1628862621.837 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:50:22.235Z,1628862622.235 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:50:22.621Z,1628862622.621 [Micromodem](INFO): Nmea in: $CADRQ,135023,1,10,0,64,1*70 2021-08-13T13:50:22.621Z,1628862622.621 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*40 2021-08-13T13:50:23.023Z,1628862623.023 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:50:23.076Z,1628862623.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:23.421Z,1628862623.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:23.421Z,1628862623.421 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:23.421Z,1628862623.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:23.422Z,1628862623.422 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:23.429Z,1628862623.429 [Micromodem](INFO): Nmea in: $CADRQ,135024,1,10,0,64,2*74 2021-08-13T13:50:23.431Z,1628862623.431 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33 2021-08-13T13:50:23.908Z,1628862623.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B6,000,00A7D,186,80,80,8C,FF 2021-08-13T13:50:23.908Z,1628862623.908 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:23.908Z,1628862623.908 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:23.910Z,1628862623.910 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:50:23.911Z,1628862623.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:24.325Z,1628862624.325 [Micromodem](INFO): Nmea in: $CADRQ,135024,1,10,0,64,3*75 2021-08-13T13:50:24.325Z,1628862624.325 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,135024,1,10,0,64,3*75 2021-08-13T13:50:24.742Z,1628862624.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,00A89,186,80,80,8A,FF 2021-08-13T13:50:24.743Z,1628862624.743 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:24.748Z,1628862624.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:25.169Z,1628862625.169 [Micromodem](INFO): Nmea in: $SNTTA,0.084772,,,,135025.44*4E 2021-08-13T13:50:25.191Z,1628862625.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.320000 m, bearing: 42.134068 deg, deltaT: 4.343411 s, approachRate: 0.165767 m/s, LOS rate: 0.379023 deg/s, posRepo size: 4 2021-08-13T13:50:27.580Z,1628862627.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:27.957Z,1628862627.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:27.957Z,1628862627.957 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:27.957Z,1628862627.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:27.958Z,1628862627.958 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:28.465Z,1628862628.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 188,000,00A89,186,80,80,8A,FF 2021-08-13T13:50:28.465Z,1628862628.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:28.465Z,1628862628.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:28.467Z,1628862628.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:28.860Z,1628862628.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:29.273Z,1628862629.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00A98,187,80,80,77,FF 2021-08-13T13:50:29.273Z,1628862629.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:29.701Z,1628862629.701 [Micromodem](INFO): Nmea in: $SNTTA,0.097284,,,,135029.99*4C 2021-08-13T13:50:29.775Z,1628862629.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.220001 m, bearing: 37.028184 deg, deltaT: 4.481949 s, approachRate: 0.200806 m/s, LOS rate: -1.139211 deg/s, posRepo size: 4 2021-08-13T13:50:31.899Z,1628862631.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:32.237Z,1628862632.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:32.237Z,1628862632.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:32.237Z,1628862632.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:32.238Z,1628862632.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:32.653Z,1628862632.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1EC,000,00A98,187,80,80,77,FF 2021-08-13T13:50:32.653Z,1628862632.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:32.654Z,1628862632.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:32.657Z,1628862632.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:33.048Z,1628862633.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:33.461Z,1628862633.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,00AA4,186,80,80,8C,FF 2021-08-13T13:50:33.461Z,1628862633.461 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:33.902Z,1628862633.902 [Micromodem](INFO): Nmea in: $SNTTA,0.090275,,,,135034.18*40 2021-08-13T13:50:33.940Z,1628862633.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 36.922999 deg, deltaT: 4.183998 s, approachRate: 0.172085 m/s, LOS rate: -0.025140 deg/s, posRepo size: 4 2021-08-13T13:50:36.086Z,1628862636.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:36.397Z,1628862636.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:36.397Z,1628862636.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:36.397Z,1628862636.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:36.398Z,1628862636.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:36.861Z,1628862636.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1EF,000,00AA4,186,80,80,8C,FF 2021-08-13T13:50:36.862Z,1628862636.862 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:36.862Z,1628862636.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:36.863Z,1628862636.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:37.273Z,1628862637.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:37.669Z,1628862637.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,00AB2,187,80,80,81,FF 2021-08-13T13:50:37.669Z,1628862637.669 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:38.114Z,1628862638.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135038.39*58 2021-08-13T13:50:38.184Z,1628862638.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.780006 m, bearing: 37.604105 deg, deltaT: 4.243398 s, approachRate: 0.197956 m/s, LOS rate: 0.160510 deg/s, posRepo size: 4 2021-08-13T13:50:40.524Z,1628862640.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:40.905Z,1628862640.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:40.905Z,1628862640.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:40.905Z,1628862640.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:40.906Z,1628862640.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:41.339Z,1628862641.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D9,000,00AB2,187,80,80,81,FF 2021-08-13T13:50:41.339Z,1628862641.339 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:41.339Z,1628862641.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:41.341Z,1628862641.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:41.769Z,1628862641.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:42.145Z,1628862642.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,00ABF,187,80,80,7D,FF 2021-08-13T13:50:42.146Z,1628862642.146 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:42.607Z,1628862642.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 34.257521 deg, deltaT: 4.482274 s, approachRate: 0.174019 m/s, LOS rate: -0.746626 deg/s, posRepo size: 4 2021-08-13T13:50:45.013Z,1628862645.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:45.369Z,1628862645.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:45.369Z,1628862645.369 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:45.369Z,1628862645.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:45.370Z,1628862645.370 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:45.789Z,1628862645.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 215,000,00ABF,187,80,80,7D,FF 2021-08-13T13:50:45.789Z,1628862645.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:45.789Z,1628862645.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:45.791Z,1628862645.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:46.190Z,1628862646.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:46.653Z,1628862646.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,00ACC,189,80,80,84,FF 2021-08-13T13:50:46.654Z,1628862646.654 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:47.328Z,1628862647.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.339996 m, bearing: 32.665188 deg, deltaT: 4.731433 s, approachRate: 0.164853 m/s, LOS rate: -0.336543 deg/s, posRepo size: 4 2021-08-13T13:50:49.567Z,1628862649.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:49.949Z,1628862649.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:49.949Z,1628862649.949 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:49.949Z,1628862649.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:49.950Z,1628862649.950 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:50.358Z,1628862650.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 233,000,00ACC,189,80,80,84,FF 2021-08-13T13:50:50.358Z,1628862650.358 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:50.358Z,1628862650.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:50.360Z,1628862650.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:50.792Z,1628862650.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:50:51.169Z,1628862651.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00AD8,187,80,80,47,FF 2021-08-13T13:50:51.170Z,1628862651.170 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:50:51.601Z,1628862651.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135051.88*5D 2021-08-13T13:50:51.638Z,1628862651.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.060013 m, bearing: 34.398042 deg, deltaT: 4.209596 s, approachRate: 0.171042 m/s, LOS rate: 0.411644 deg/s, posRepo size: 4 2021-08-13T13:50:53.602Z,1628862653.602 [Micromodem](INFO): Nmea in: $CAERR,135054,DATA_TIMEOUT,3*4A 2021-08-13T13:50:53.834Z,1628862653.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:53.985Z,1628862653.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:50:53.985Z,1628862653.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:50:53.985Z,1628862653.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:50:53.986Z,1628862653.986 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:50:54.021Z,1628862654.021 [Micromodem](INFO): Nmea in: $CATXP,128*49 2021-08-13T13:50:54.385Z,1628862654.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 212,000,00AD8,187,80,80,47,FF 2021-08-13T13:50:54.385Z,1628862654.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:50:54.385Z,1628862654.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:50:54.387Z,1628862654.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:50:56.457Z,1628862656.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:50:56.814Z,1628862656.814 [Micromodem](INFO): Nmea in: $CATXF,128*5F 2021-08-13T13:50:56.814Z,1628862656.814 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F 2021-08-13T13:50:57.215Z,1628862657.215 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,135055.008204,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*66 2021-08-13T13:50:57.215Z,1628862657.215 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,135055.008204,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*66 2021-08-13T13:50:59.261Z,1628862659.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:00.108Z,1628862660.108 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.121896 2021-08-13T13:51:01.841Z,1628862661.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:02.189Z,1628862662.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:02.190Z,1628862662.190 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:02.190Z,1628862662.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:02.191Z,1628862662.191 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:02.709Z,1628862662.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 212,000,00AD8,187,80,80,47,FF 2021-08-13T13:51:02.710Z,1628862662.710 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:02.710Z,1628862662.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:04.394Z,1628862664.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:05.538Z,1628862665.538 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:05.953Z,1628862665.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:06.333Z,1628862666.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,00B05,186,80,80,3E,FF 2021-08-13T13:51:06.333Z,1628862666.333 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:06.337Z,1628862666.337 [Micromodem](INFO): Nmea in: $SNTTA,0.183958,0.184265,,,135107.06*5B 2021-08-13T13:51:06.807Z,1628862666.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.759995 m, bearing: 42.709958 deg, deltaT: 15.371434 s, approachRate: 0.175649 m/s, LOS rate: 0.540738 deg/s, posRepo size: 4 2021-08-13T13:51:09.200Z,1628862669.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:09.565Z,1628862669.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:09.565Z,1628862669.565 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:09.565Z,1628862669.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:09.566Z,1628862669.566 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:09.982Z,1628862669.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18F,000,00B05,186,80,80,3E,FF 2021-08-13T13:51:09.983Z,1628862669.983 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:09.983Z,1628862669.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:09.985Z,1628862669.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:10.372Z,1628862670.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:10.781Z,1628862670.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00B15,184,80,80,5E,FF 2021-08-13T13:51:10.781Z,1628862670.781 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:11.205Z,1628862671.205 [Micromodem](INFO): Nmea in: $SNTTA,0.122858,,,,135111.51*46 2021-08-13T13:51:11.243Z,1628862671.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.720001 m, bearing: 63.280207 deg, deltaT: 4.297281 s, approachRate: 0.223399 m/s, LOS rate: 4.786806 deg/s, posRepo size: 4 2021-08-13T13:51:13.618Z,1628862673.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:14.024Z,1628862674.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:14.024Z,1628862674.024 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:14.025Z,1628862674.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:14.026Z,1628862674.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:14.409Z,1628862674.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,00B15,184,80,80,5E,FF 2021-08-13T13:51:14.409Z,1628862674.409 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:14.409Z,1628862674.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:14.411Z,1628862674.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:14.816Z,1628862674.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:15.646Z,1628862675.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135115.94*51 2021-08-13T13:51:16.142Z,1628862676.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:18.088Z,1628862678.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,184,80,80,5E,FF 2021-08-13T13:51:18.089Z,1628862678.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,184,80,80,5E,FF 2021-08-13T13:51:18.089Z,1628862678.089 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:51:18.910Z,1628862678.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:19.257Z,1628862679.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:19.257Z,1628862679.257 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:19.258Z,1628862679.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:19.259Z,1628862679.259 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:19.670Z,1628862679.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,184,80,80,5E,FF 2021-08-13T13:51:19.670Z,1628862679.670 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:19.670Z,1628862679.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:19.672Z,1628862679.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:20.108Z,1628862680.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:20.481Z,1628862680.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00B2F,182,80,80,82,FF 2021-08-13T13:51:20.482Z,1628862680.482 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:20.917Z,1628862680.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135121.20*59 2021-08-13T13:51:20.965Z,1628862680.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.279999 m, bearing: 65.207720 deg, deltaT: 9.688878 s, approachRate: 0.161009 m/s, LOS rate: 0.198941 deg/s, posRepo size: 4 2021-08-13T13:51:23.315Z,1628862683.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:23.712Z,1628862683.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:23.712Z,1628862683.712 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:23.713Z,1628862683.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:23.714Z,1628862683.714 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:24.122Z,1628862684.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFC,000,00B2F,182,80,80,82,FF 2021-08-13T13:51:24.122Z,1628862684.122 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:24.122Z,1628862684.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:24.124Z,1628862684.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:24.521Z,1628862684.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:24.937Z,1628862684.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00B3B,185,80,80,91,FF 2021-08-13T13:51:24.937Z,1628862684.937 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:25.397Z,1628862685.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135125.65*5C 2021-08-13T13:51:25.459Z,1628862685.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 67.652163 deg, deltaT: 4.484677 s, approachRate: 0.160547 m/s, LOS rate: 0.545066 deg/s, posRepo size: 4 2021-08-13T13:51:26.977Z,1628862686.977 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:51:27.524Z,1628862687.524 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE 2021-08-13T13:51:27.524Z,1628862687.524 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 2021-08-13T13:51:27.525Z,1628862687.525 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4 2021-08-13T13:51:27.525Z,1628862687.525 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:51:27.597Z,1628862687.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:27.777Z,1628862687.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:27.777Z,1628862687.777 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:27.777Z,1628862687.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:27.778Z,1628862687.778 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:27.786Z,1628862687.786 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:51:28.225Z,1628862688.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD5,000,00B3B,185,80,80,91,FF 2021-08-13T13:51:28.225Z,1628862688.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:28.225Z,1628862688.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:28.227Z,1628862688.227 [Micromodem](INFO): Nmea in: $CADRQ,135128,1,10,0,64,1*7A 2021-08-13T13:51:28.228Z,1628862688.228 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*40 2021-08-13T13:51:28.626Z,1628862688.626 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:51:28.626Z,1628862688.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:29.023Z,1628862689.023 [Micromodem](INFO): Nmea in: $CADRQ,135129,1,10,0,64,2*78 2021-08-13T13:51:29.023Z,1628862689.023 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,135129,1,10,0,64,2*78 2021-08-13T13:51:29.429Z,1628862689.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,00B4D,184,80,80,8F,FF 2021-08-13T13:51:29.429Z,1628862689.429 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:29.434Z,1628862689.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:29.857Z,1628862689.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135130.15*5F 2021-08-13T13:51:29.917Z,1628862689.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.080002 m, bearing: 70.498603 deg, deltaT: 4.479062 s, approachRate: 0.241122 m/s, LOS rate: 0.635499 deg/s, posRepo size: 4 2021-08-13T13:51:32.567Z,1628862692.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:32.661Z,1628862692.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:32.661Z,1628862692.661 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:32.661Z,1628862692.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:32.662Z,1628862692.662 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:33.070Z,1628862693.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAD,000,00B4D,184,80,80,8F,FF 2021-08-13T13:51:33.070Z,1628862693.070 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:33.070Z,1628862693.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:33.072Z,1628862693.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:33.469Z,1628862693.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:33.874Z,1628862693.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00B57,187,80,80,8E,FF 2021-08-13T13:51:33.874Z,1628862693.874 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:34.301Z,1628862694.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135134.60*59 2021-08-13T13:51:34.516Z,1628862694.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.680008 m, bearing: 73.596033 deg, deltaT: 4.431398 s, approachRate: 0.135399 m/s, LOS rate: 0.698973 deg/s, posRepo size: 4 2021-08-13T13:51:36.776Z,1628862696.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:37.101Z,1628862697.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:37.101Z,1628862697.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:37.101Z,1628862697.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:37.102Z,1628862697.102 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:37.505Z,1628862697.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F76,000,00B57,187,80,80,8E,FF 2021-08-13T13:51:37.505Z,1628862697.505 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:37.505Z,1628862697.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:37.507Z,1628862697.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:37.930Z,1628862697.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:38.758Z,1628862698.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135139.03*51 2021-08-13T13:51:39.556Z,1628862699.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:41.137Z,1628862701.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 7,187,80,80,8E,FF 2021-08-13T13:51:41.137Z,1628862701.137 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 7,187,80,80,8E,FF 2021-08-13T13:51:41.138Z,1628862701.138 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:51:42.069Z,1628862702.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:42.361Z,1628862702.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:42.361Z,1628862702.361 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:42.361Z,1628862702.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:42.362Z,1628862702.362 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:42.785Z,1628862702.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 7,187,80,80,8E,FF 2021-08-13T13:51:42.785Z,1628862702.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:42.785Z,1628862702.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:42.787Z,1628862702.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:43.164Z,1628862703.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:43.566Z,1628862703.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00B72,186,80,80,8E,FF 2021-08-13T13:51:43.566Z,1628862703.566 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:43.570Z,1628862703.570 [Micromodem](INFO): Nmea in: $SNTTA,0.125971,0.136034,,,135144.31*50 2021-08-13T13:51:44.077Z,1628862704.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.300003 m, bearing: 73.902394 deg, deltaT: 9.680172 s, approachRate: 0.167352 m/s, LOS rate: 0.031648 deg/s, posRepo size: 4 2021-08-13T13:51:46.461Z,1628862706.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:46.805Z,1628862706.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:46.805Z,1628862706.805 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:46.806Z,1628862706.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:46.807Z,1628862706.807 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:47.201Z,1628862707.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F83,000,00B72,186,80,80,8E,FF 2021-08-13T13:51:47.201Z,1628862707.201 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:47.201Z,1628862707.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:47.203Z,1628862707.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:47.616Z,1628862707.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:48.024Z,1628862708.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00B80,186,80,80,93,FF 2021-08-13T13:51:48.025Z,1628862708.025 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:48.421Z,1628862708.421 [Micromodem](INFO): Nmea in: $SNTTA,0.353048,0.353048,,,135148.73*50 2021-08-13T13:51:48.472Z,1628862708.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.139999 m, bearing: 76.481296 deg, deltaT: 4.530713 s, approachRate: 0.185400 m/s, LOS rate: 0.569204 deg/s, posRepo size: 4 2021-08-13T13:51:50.865Z,1628862710.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:51.237Z,1628862711.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:51.237Z,1628862711.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:51.237Z,1628862711.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:51.238Z,1628862711.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:51.641Z,1628862711.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4D,000,00B80,186,80,80,93,FF 2021-08-13T13:51:51.641Z,1628862711.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:51.641Z,1628862711.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:51.643Z,1628862711.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:51.956Z,1628862711.956 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-08-13T13:51:51.956Z,1628862711.956 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-08-13T13:51:51.956Z,1628862711.956 [RDI_PathfinderUp](ERROR): Communications Fault 2021-08-13T13:51:52.054Z,1628862712.054 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-08-13T13:51:52.124Z,1628862712.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:52.241Z,1628862712.241 [RDI_PathfinderUp](INFO): Powering down 2021-08-13T13:51:52.521Z,1628862712.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00B8D,186,80,80,87,FF 2021-08-13T13:51:52.521Z,1628862712.521 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:52.933Z,1628862712.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135153.17*58 2021-08-13T13:51:52.991Z,1628862712.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.919998 m, bearing: 74.885415 deg, deltaT: 4.388649 s, approachRate: 0.177731 m/s, LOS rate: -0.363638 deg/s, posRepo size: 4 2021-08-13T13:51:53.042Z,1628862713.042 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-08-13T13:51:53.042Z,1628862713.042 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-08-13T13:51:55.386Z,1628862715.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:51:55.753Z,1628862715.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:51:55.753Z,1628862715.753 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:51:55.753Z,1628862715.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:51:55.754Z,1628862715.754 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:51:56.169Z,1628862716.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F70,000,00B8D,186,80,80,87,FF 2021-08-13T13:51:56.169Z,1628862716.169 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:51:56.169Z,1628862716.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:51:56.171Z,1628862716.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:51:56.569Z,1628862716.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:51:56.958Z,1628862716.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00B9A,186,80,80,87,FF 2021-08-13T13:51:56.958Z,1628862716.958 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:51:57.389Z,1628862717.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135157.70*5D 2021-08-13T13:51:57.420Z,1628862717.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.699997 m, bearing: 76.312317 deg, deltaT: 4.460365 s, approachRate: 0.174873 m/s, LOS rate: 0.319907 deg/s, posRepo size: 4 2021-08-13T13:51:58.585Z,1628862718.585 [Micromodem](INFO): Nmea in: $CAERR,135159,DATA_TIMEOUT,2*47 2021-08-13T13:51:58.985Z,1628862718.985 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-08-13T13:51:59.830Z,1628862719.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:00.185Z,1628862720.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:00.185Z,1628862720.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:00.185Z,1628862720.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:00.186Z,1628862720.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:00.637Z,1628862720.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5A,000,00B9A,186,80,80,87,FF 2021-08-13T13:52:00.637Z,1628862720.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:00.637Z,1628862720.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:00.639Z,1628862720.639 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-08-13T13:52:00.640Z,1628862720.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:01.037Z,1628862721.037 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,135159.796109,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5F 2021-08-13T13:52:01.037Z,1628862721.037 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,135159.796109,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*5F 2021-08-13T13:52:01.441Z,1628862721.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:01.862Z,1628862721.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135202.17*5F 2021-08-13T13:52:02.685Z,1628862722.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:04.265Z,1628862724.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 A,186,80,80,87,FF 2021-08-13T13:52:04.265Z,1628862724.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 A,186,80,80,87,FF 2021-08-13T13:52:04.265Z,1628862724.265 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:52:05.500Z,1628862725.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:05.898Z,1628862725.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:05.898Z,1628862725.898 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:05.898Z,1628862725.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:05.899Z,1628862725.899 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:06.354Z,1628862726.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 A,186,80,80,87,FF 2021-08-13T13:52:06.354Z,1628862726.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:06.354Z,1628862726.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:06.374Z,1628862726.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:06.700Z,1628862726.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:07.521Z,1628862727.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00BB9,186,80,80,6D,FF 2021-08-13T13:52:07.521Z,1628862727.521 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:07.937Z,1628862727.937 [Micromodem](INFO): Nmea in: PROC,0.20.0.39330*76 2021-08-13T13:52:07.937Z,1628862727.937 [Micromodem](ERROR): Response from modem failed NMEA checksum: PROC,0.20.0.39330*76 expected 0 2021-08-13T13:52:07.992Z,1628862727.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.559998 m, bearing: 75.317398 deg, deltaT: 10.599557 s, approachRate: 0.175479 m/s, LOS rate: -0.093864 deg/s, posRepo size: 4 2021-08-13T13:52:10.405Z,1628862730.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:10.754Z,1628862730.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:10.754Z,1628862730.754 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:10.754Z,1628862730.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:10.755Z,1628862730.755 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:11.149Z,1628862731.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6C,000,00BB9,186,80,80,6D,FF 2021-08-13T13:52:11.149Z,1628862731.149 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:11.149Z,1628862731.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:11.151Z,1628862731.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:11.629Z,1628862731.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:12.037Z,1628862732.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,00BC6,186,80,80,8D,FF 2021-08-13T13:52:12.038Z,1628862732.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:12.455Z,1628862732.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135212.67*59 2021-08-13T13:52:12.519Z,1628862732.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.339996 m, bearing: 76.787808 deg, deltaT: 4.516474 s, approachRate: 0.172701 m/s, LOS rate: 0.325566 deg/s, posRepo size: 4 2021-08-13T13:52:14.923Z,1628862734.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:15.314Z,1628862735.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:15.314Z,1628862735.314 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:15.314Z,1628862735.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:15.315Z,1628862735.315 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:15.710Z,1628862735.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4B,000,00BC6,186,80,80,8D,FF 2021-08-13T13:52:15.710Z,1628862735.710 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:15.710Z,1628862735.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:15.712Z,1628862735.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:16.121Z,1628862736.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:16.537Z,1628862736.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00BD5,187,80,80,97,FF 2021-08-13T13:52:16.537Z,1628862736.537 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:16.959Z,1628862736.959 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135217.23*5C 2021-08-13T13:52:16.975Z,1628862736.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 76.509067 deg, deltaT: 4.451226 s, approachRate: 0.202194 m/s, LOS rate: -0.062621 deg/s, posRepo size: 4 2021-08-13T13:52:19.389Z,1628862739.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:19.769Z,1628862739.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:19.769Z,1628862739.769 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:19.769Z,1628862739.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:19.770Z,1628862739.770 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:20.180Z,1628862740.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F52,000,00BD5,187,80,80,97,FF 2021-08-13T13:52:20.180Z,1628862740.180 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:20.181Z,1628862740.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:20.182Z,1628862740.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:20.572Z,1628862740.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:20.978Z,1628862740.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00BDE,186,80,80,97,FF 2021-08-13T13:52:20.978Z,1628862740.978 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:21.449Z,1628862741.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135221.70*5F 2021-08-13T13:52:21.514Z,1628862741.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.779999 m, bearing: 75.673168 deg, deltaT: 4.482430 s, approachRate: 0.120469 m/s, LOS rate: -0.186483 deg/s, posRepo size: 4 2021-08-13T13:52:23.860Z,1628862743.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:24.213Z,1628862744.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:24.213Z,1628862744.213 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:24.213Z,1628862744.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:24.214Z,1628862744.214 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:24.637Z,1628862744.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F67,000,00BDE,186,80,80,97,FF 2021-08-13T13:52:24.637Z,1628862744.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:24.637Z,1628862744.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:24.639Z,1628862744.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:25.037Z,1628862745.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:25.445Z,1628862745.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00BEB,186,80,80,91,FF 2021-08-13T13:52:25.446Z,1628862745.446 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:25.890Z,1628862745.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135226.16*58 2021-08-13T13:52:25.927Z,1628862745.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 76.808312 deg, deltaT: 4.497286 s, approachRate: 0.173441 m/s, LOS rate: 0.252406 deg/s, posRepo size: 4 2021-08-13T13:52:28.410Z,1628862748.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:28.741Z,1628862748.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:28.741Z,1628862748.741 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:28.741Z,1628862748.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:28.742Z,1628862748.742 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:29.149Z,1628862749.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F50,000,00BEB,186,80,80,91,FF 2021-08-13T13:52:29.150Z,1628862749.150 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:29.150Z,1628862749.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:29.151Z,1628862749.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:29.562Z,1628862749.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:29.961Z,1628862749.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00BF8,186,80,80,7F,FF 2021-08-13T13:52:29.961Z,1628862749.961 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:30.426Z,1628862750.426 [Micromodem](INFO): Nmea in: $SNTTA,0.101688,,,,135230.67*41 2021-08-13T13:52:30.538Z,1628862750.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.340012 m, bearing: 77.159472 deg, deltaT: 4.499630 s, approachRate: 0.173347 m/s, LOS rate: 0.078042 deg/s, posRepo size: 4 2021-08-13T13:52:32.790Z,1628862752.790 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:52:32.989Z,1628862752.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:33.189Z,1628862753.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:33.189Z,1628862753.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:33.189Z,1628862753.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:33.190Z,1628862753.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:33.362Z,1628862753.362 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE 2021-08-13T13:52:33.362Z,1628862753.362 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 2021-08-13T13:52:33.363Z,1628862753.363 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4 2021-08-13T13:52:33.363Z,1628862753.363 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:52:33.593Z,1628862753.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4A,000,00BF8,186,80,80,7F,FF 2021-08-13T13:52:33.593Z,1628862753.593 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:33.593Z,1628862753.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:33.595Z,1628862753.595 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:52:33.616Z,1628862753.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:34.027Z,1628862754.027 [Micromodem](INFO): Nmea in: $CADRQ,135234,1,10,0,64,1*74 2021-08-13T13:52:34.032Z,1628862754.032 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,135234,1,10,0,64,1*74 2021-08-13T13:52:34.409Z,1628862754.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:34.805Z,1628862754.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00C06,186,80,80,98,FF 2021-08-13T13:52:34.805Z,1628862754.805 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:35.233Z,1628862755.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135235.19*55 2021-08-13T13:52:35.256Z,1628862755.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 77.358880 deg, deltaT: 4.838461 s, approachRate: 0.173608 m/s, LOS rate: 0.041213 deg/s, posRepo size: 4 2021-08-13T13:52:37.433Z,1628862757.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:37.637Z,1628862757.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:37.637Z,1628862757.637 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:37.637Z,1628862757.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:37.638Z,1628862757.638 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:38.071Z,1628862758.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F48,000,00C06,186,80,80,98,FF 2021-08-13T13:52:38.071Z,1628862758.071 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:38.071Z,1628862758.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:38.073Z,1628862758.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:38.474Z,1628862758.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:38.845Z,1628862758.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00C06,186,80,80,98,FF 2021-08-13T13:52:38.846Z,1628862758.846 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:39.271Z,1628862759.271 [Micromodem](INFO): Nmea in: $SNTTA,0.101007,,,,135239.59*44 2021-08-13T13:52:39.524Z,1628862759.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 76.890697 deg, deltaT: 4.031931 s, approachRate: 0.000000 m/s, LOS rate: -0.116119 deg/s, posRepo size: 4 2021-08-13T13:52:41.711Z,1628862761.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:42.113Z,1628862762.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:42.113Z,1628862762.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:42.113Z,1628862762.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:42.114Z,1628862762.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:42.526Z,1628862762.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F50,000,00C06,186,80,80,98,FF 2021-08-13T13:52:42.526Z,1628862762.526 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:42.526Z,1628862762.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:42.528Z,1628862762.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:42.890Z,1628862762.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:43.297Z,1628862763.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00C06,186,80,80,98,FF 2021-08-13T13:52:43.298Z,1628862763.298 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:43.707Z,1628862763.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135244.05*5E 2021-08-13T13:52:43.914Z,1628862763.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 76.364855 deg, deltaT: 4.432506 s, approachRate: 0.000000 m/s, LOS rate: -0.118633 deg/s, posRepo size: 4 2021-08-13T13:52:45.936Z,1628862765.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:46.133Z,1628862766.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:46.134Z,1628862766.134 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:46.134Z,1628862766.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:46.135Z,1628862766.135 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:46.544Z,1628862766.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5A,000,00C06,186,80,80,98,FF 2021-08-13T13:52:46.544Z,1628862766.544 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:46.545Z,1628862766.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:46.547Z,1628862766.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:46.945Z,1628862766.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:47.338Z,1628862767.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00C2E,186,80,80,98,FF 2021-08-13T13:52:47.338Z,1628862767.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:47.761Z,1628862767.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135248.07*50 2021-08-13T13:52:47.818Z,1628862767.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.580002 m, bearing: 76.801174 deg, deltaT: 4.045696 s, approachRate: 0.593221 m/s, LOS rate: 0.107848 deg/s, posRepo size: 4 2021-08-13T13:52:50.403Z,1628862770.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:50.569Z,1628862770.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:50.569Z,1628862770.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:50.569Z,1628862770.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:50.570Z,1628862770.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:50.973Z,1628862770.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4D,000,00C2E,186,80,80,98,FF 2021-08-13T13:52:50.973Z,1628862770.973 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:50.974Z,1628862770.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:50.975Z,1628862770.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:51.380Z,1628862771.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:51.785Z,1628862771.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00C3B,186,80,80,A5,FF 2021-08-13T13:52:51.786Z,1628862771.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:52.226Z,1628862772.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135252.50*59 2021-08-13T13:52:52.488Z,1628862772.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.360001 m, bearing: 78.569831 deg, deltaT: 4.466526 s, approachRate: 0.174632 m/s, LOS rate: 0.395980 deg/s, posRepo size: 4 2021-08-13T13:52:54.699Z,1628862774.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:55.065Z,1628862775.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:55.065Z,1628862775.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:55.065Z,1628862775.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:55.066Z,1628862775.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:55.485Z,1628862775.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F2E,000,00C3B,186,80,80,A5,FF 2021-08-13T13:52:55.485Z,1628862775.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:55.485Z,1628862775.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:55.487Z,1628862775.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:55.878Z,1628862775.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:52:56.278Z,1628862776.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,00C5B,186,80,80,A5,FF 2021-08-13T13:52:56.278Z,1628862776.278 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:52:56.282Z,1628862776.282 [Micromodem](INFO): Nmea in: $SNTTA,0.103367,0.209924,,,135257.01*5C 2021-08-13T13:52:56.856Z,1628862776.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.279999 m, bearing: 79.117489 deg, deltaT: 4.517111 s, approachRate: 0.425050 m/s, LOS rate: 0.121241 deg/s, posRepo size: 4 2021-08-13T13:52:58.930Z,1628862778.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:52:59.105Z,1628862779.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:52:59.105Z,1628862779.105 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:52:59.105Z,1628862779.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:52:59.106Z,1628862779.106 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:52:59.517Z,1628862779.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F2B,000,00C5B,186,80,80,A5,FF 2021-08-13T13:52:59.517Z,1628862779.517 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:52:59.517Z,1628862779.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:52:59.519Z,1628862779.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:52:59.932Z,1628862779.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:00.321Z,1628862780.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00C52,187,80,80,A5,FF 2021-08-13T13:53:00.322Z,1628862780.322 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:00.326Z,1628862780.326 [Micromodem](INFO): Nmea in: $SNTTA,0.103054,0.193479,,,135301.04*5D 2021-08-13T13:53:00.766Z,1628862780.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.739990 m, bearing: 83.274172 deg, deltaT: 4.049250 s, approachRate: -0.133360 m/s, LOS rate: 1.026531 deg/s, posRepo size: 4 2021-08-13T13:53:03.333Z,1628862783.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:03.553Z,1628862783.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:03.553Z,1628862783.553 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:03.553Z,1628862783.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:03.554Z,1628862783.554 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:03.561Z,1628862783.561 [Micromodem](INFO): Nmea in: $CAERR,135304,DATA_TIMEOUT,1*4E 2021-08-13T13:53:03.953Z,1628862783.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDC,000,00C52,187,80,80,A5,FF 2021-08-13T13:53:03.953Z,1628862783.953 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:03.953Z,1628862783.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:03.955Z,1628862783.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:04.357Z,1628862784.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:04.777Z,1628862784.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,00C5D,186,80,80,9A,FF 2021-08-13T13:53:04.777Z,1628862784.777 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:05.197Z,1628862785.197 [Micromodem](INFO): Nmea in: $SNTTA,0.109537,,,,135305.48*44 2021-08-13T13:53:05.409Z,1628862785.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 84.297266 deg, deltaT: 4.420763 s, approachRate: 0.149296 m/s, LOS rate: 0.231429 deg/s, posRepo size: 4 2021-08-13T13:53:07.653Z,1628862787.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:08.065Z,1628862788.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:08.065Z,1628862788.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:08.065Z,1628862788.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:08.066Z,1628862788.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:08.429Z,1628862788.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC7,000,00C5D,186,80,80,9A,FF 2021-08-13T13:53:08.429Z,1628862788.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:08.429Z,1628862788.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:08.431Z,1628862788.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:08.845Z,1628862788.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:09.241Z,1628862789.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,00C6B,185,80,80,8A,FF 2021-08-13T13:53:09.242Z,1628862789.242 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:09.685Z,1628862789.685 [Micromodem](INFO): Nmea in: $SNTTA,0.104043,,,,135309.95*43 2021-08-13T13:53:09.890Z,1628862789.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.240005 m, bearing: 88.257444 deg, deltaT: 4.451916 s, approachRate: 0.188685 m/s, LOS rate: 0.889545 deg/s, posRepo size: 4 2021-08-13T13:53:11.866Z,1628862791.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:12.113Z,1628862792.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:12.113Z,1628862792.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:12.113Z,1628862792.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:12.114Z,1628862792.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:12.525Z,1628862792.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7F,000,00C6B,185,80,80,8A,FF 2021-08-13T13:53:12.525Z,1628862792.525 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:12.525Z,1628862792.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:12.527Z,1628862792.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:12.906Z,1628862792.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:13.312Z,1628862793.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,00C6B,185,80,80,8A,FF 2021-08-13T13:53:13.312Z,1628862793.312 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:13.733Z,1628862793.733 [Micromodem](INFO): Nmea in: $SNTTA,0.104651,,,,135314.05*43 2021-08-13T13:53:13.760Z,1628862793.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.240005 m, bearing: 88.225403 deg, deltaT: 4.039922 s, approachRate: 0.000000 m/s, LOS rate: -0.007931 deg/s, posRepo size: 4 2021-08-13T13:53:16.652Z,1628862796.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:16.766Z,1628862796.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:16.766Z,1628862796.766 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:16.767Z,1628862796.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:16.768Z,1628862796.768 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:17.137Z,1628862797.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E8C,000,00C6B,185,80,80,8A,FF 2021-08-13T13:53:17.137Z,1628862797.137 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:17.137Z,1628862797.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:17.139Z,1628862797.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:17.551Z,1628862797.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:17.957Z,1628862797.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,00C83,186,80,80,95,FF 2021-08-13T13:53:17.957Z,1628862797.957 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:18.390Z,1628862798.390 [Micromodem](INFO): Nmea in: $SNTTA,0.343324,,,,135318.66*4C 2021-08-13T13:53:18.634Z,1628862798.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.680008 m, bearing: 88.332282 deg, deltaT: 4.725665 s, approachRate: 0.304720 m/s, LOS rate: 0.022617 deg/s, posRepo size: 4 2021-08-13T13:53:20.917Z,1628862800.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:21.369Z,1628862801.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:21.369Z,1628862801.369 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:21.369Z,1628862801.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:21.370Z,1628862801.370 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:21.689Z,1628862801.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E8B,000,00C83,186,80,80,95,FF 2021-08-13T13:53:21.689Z,1628862801.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:21.689Z,1628862801.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:21.691Z,1628862801.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:22.108Z,1628862802.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:22.517Z,1628862802.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,00C92,186,80,80,9D,FF 2021-08-13T13:53:22.517Z,1628862802.517 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:22.933Z,1628862802.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135323.21*58 2021-08-13T13:53:22.972Z,1628862802.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.580002 m, bearing: 89.445275 deg, deltaT: 4.690338 s, approachRate: 0.191883 m/s, LOS rate: 0.237295 deg/s, posRepo size: 4 2021-08-13T13:53:25.366Z,1628862805.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:25.737Z,1628862805.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:25.737Z,1628862805.737 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:25.738Z,1628862805.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:25.738Z,1628862805.738 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:26.129Z,1628862806.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E77,000,00C92,186,80,80,9D,FF 2021-08-13T13:53:26.130Z,1628862806.130 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:26.130Z,1628862806.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:26.131Z,1628862806.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:26.555Z,1628862806.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:26.953Z,1628862806.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00CA1,186,80,80,9A,FF 2021-08-13T13:53:26.954Z,1628862806.954 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:27.381Z,1628862807.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135327.66*5F 2021-08-13T13:53:27.425Z,1628862807.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.479996 m, bearing: 92.279899 deg, deltaT: 4.216068 s, approachRate: 0.213468 m/s, LOS rate: 0.672338 deg/s, posRepo size: 4 2021-08-13T13:53:29.820Z,1628862809.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:30.173Z,1628862810.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:30.173Z,1628862810.173 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:30.173Z,1628862810.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:30.174Z,1628862810.174 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:30.585Z,1628862810.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E46,000,00CA1,186,80,80,9A,FF 2021-08-13T13:53:30.585Z,1628862810.585 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:30.586Z,1628862810.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:30.587Z,1628862810.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:31.004Z,1628862811.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:31.823Z,1628862811.823 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135332.11*5B 2021-08-13T13:53:32.645Z,1628862812.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:34.213Z,1628862814.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,9A,FF 2021-08-13T13:53:34.213Z,1628862814.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 1,186,80,80,9A,FF 2021-08-13T13:53:34.213Z,1628862814.213 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:53:35.686Z,1628862815.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:35.831Z,1628862815.831 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:35.831Z,1628862815.831 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:35.831Z,1628862815.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:35.834Z,1628862815.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:36.252Z,1628862816.252 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,9A,FF 2021-08-13T13:53:36.252Z,1628862816.252 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:36.253Z,1628862816.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:36.254Z,1628862816.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:36.640Z,1628862816.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:37.046Z,1628862817.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,00C 1,186,80,80,9A,FF 2021-08-13T13:53:37.047Z,1628862817.047 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EB0,000,00C 1,186,80,80,9A,FF 2021-08-13T13:53:37.477Z,1628862817.477 [Micromodem](INFO): Nmea in: $SNTTA,0.113861,,,,135337.78*43 2021-08-13T13:53:38.307Z,1628862818.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:38.663Z,1628862818.663 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:53:39.215Z,1628862819.215 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE 2021-08-13T13:53:39.216Z,1628862819.216 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 2021-08-13T13:53:39.216Z,1628862819.216 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4 2021-08-13T13:53:39.217Z,1628862819.217 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:53:39.487Z,1628862819.487 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:53:39.871Z,1628862819.871 [Micromodem](INFO): Nmea in: $CADRQ,135340,1,10,0,64,1*76 2021-08-13T13:53:39.872Z,1628862819.872 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*40 2021-08-13T13:53:40.274Z,1628862820.274 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:53:40.679Z,1628862820.679 [Micromodem](INFO): Nmea in: $CADRQ,135341,1,10,0,64,2*74 2021-08-13T13:53:40.679Z,1628862820.679 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33 2021-08-13T13:53:40.809Z,1628862820.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:41.091Z,1628862821.091 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:53:41.510Z,1628862821.510 [Micromodem](INFO): Nmea in: $CADRQ,135342,1,10,0,64,3*76 2021-08-13T13:53:41.511Z,1628862821.511 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4*4F 2021-08-13T13:53:41.904Z,1628862821.904 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.072311 2021-08-13T13:53:41.906Z,1628862821.906 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:53:42.298Z,1628862822.298 [Micromodem](INFO): Nmea in: $CATXP,192*48 2021-08-13T13:53:43.579Z,1628862823.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:43.913Z,1628862823.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:43.913Z,1628862823.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:43.913Z,1628862823.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:43.914Z,1628862823.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:44.324Z,1628862824.324 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB0,000,00C 1,186,80,80,9A,FF 2021-08-13T13:53:44.324Z,1628862824.324 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:44.325Z,1628862824.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:44.327Z,1628862824.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:45.960Z,1628862825.960 [Micromodem](INFO): Nmea in: $CATXF,192*5E 2021-08-13T13:53:45.961Z,1628862825.961 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E 2021-08-13T13:53:46.343Z,1628862826.343 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,135343.085585,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*69 2021-08-13T13:53:46.344Z,1628862826.344 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,135343.085585,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*69 2021-08-13T13:53:46.383Z,1628862826.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:49.196Z,1628862829.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:49.981Z,1628862829.981 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065953 2021-08-13T13:53:52.069Z,1628862832.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:52.393Z,1628862832.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:52.393Z,1628862832.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:52.393Z,1628862832.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:52.394Z,1628862832.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:53:52.802Z,1628862832.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB0,000,00C 1,186,80,80,9A,FF 2021-08-13T13:53:52.802Z,1628862832.802 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:53:52.802Z,1628862832.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:53:55.021Z,1628862835.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:55.626Z,1628862835.626 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:53:56.065Z,1628862836.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:53:56.437Z,1628862836.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00CF4,186,80,80,9A,FF 2021-08-13T13:53:56.438Z,1628862836.438 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:53:57.058Z,1628862837.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135357.15*5C 2021-08-13T13:53:57.228Z,1628862837.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.460007 m, bearing: 83.301527 deg, deltaT: 29.850420 s, approachRate: 0.166832 m/s, LOS rate: -0.300779 deg/s, posRepo size: 4 2021-08-13T13:53:59.509Z,1628862839.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:53:59.865Z,1628862839.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:53:59.866Z,1628862839.866 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:53:59.866Z,1628862839.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:53:59.867Z,1628862839.867 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:00.265Z,1628862840.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE4,000,00CF4,186,80,80,9A,FF 2021-08-13T13:54:00.265Z,1628862840.265 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:00.265Z,1628862840.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:00.267Z,1628862840.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:00.677Z,1628862840.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:00.704Z,1628862840.704 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:54:01.073Z,1628862841.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00623,186,80,80,AF,FF 2021-08-13T13:54:01.073Z,1628862841.073 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:01.529Z,1628862841.529 [Micromodem](INFO): Nmea in: $SNTTA,0.057171,,,,135401.79*49 2021-08-13T13:54:01.534Z,1628862841.534 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:54:01.580Z,1628862841.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 80.716963 deg, deltaT: 4.495165 s, approachRate: -23.291693 m/s, LOS rate: -0.574965 deg/s, posRepo size: 4 2021-08-13T13:54:03.940Z,1628862843.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:04.309Z,1628862844.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:04.309Z,1628862844.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:04.309Z,1628862844.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:04.310Z,1628862844.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:04.725Z,1628862844.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F17,000,00623,186,80,80,AF,FF 2021-08-13T13:54:04.725Z,1628862844.725 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:04.725Z,1628862844.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:04.727Z,1628862844.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:05.116Z,1628862845.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:05.529Z,1628862845.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00D23,186,80,80,AF,FF 2021-08-13T13:54:05.530Z,1628862845.530 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:05.540Z,1628862845.540 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:54:05.953Z,1628862845.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135406.25*5C 2021-08-13T13:54:05.988Z,1628862845.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.279999 m, bearing: 82.209434 deg, deltaT: 4.280454 s, approachRate: 25.118830 m/s, LOS rate: 0.348671 deg/s, posRepo size: 4 2021-08-13T13:54:08.387Z,1628862848.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:08.761Z,1628862848.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:08.761Z,1628862848.761 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:08.761Z,1628862848.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:08.762Z,1628862848.762 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:09.161Z,1628862849.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F00,000,00D23,186,80,80,AF,FF 2021-08-13T13:54:09.161Z,1628862849.161 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:09.161Z,1628862849.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:09.163Z,1628862849.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:09.569Z,1628862849.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:09.966Z,1628862849.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00D23,186,80,80,AF,FF 2021-08-13T13:54:09.966Z,1628862849.966 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:10.397Z,1628862850.397 [Micromodem](INFO): Nmea in: $SNTTA,0.111551,,,,135410.69*4D 2021-08-13T13:54:10.507Z,1628862850.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.279999 m, bearing: 83.322297 deg, deltaT: 4.438913 s, approachRate: 0.000000 m/s, LOS rate: 0.250706 deg/s, posRepo size: 4 2021-08-13T13:54:12.841Z,1628862852.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:13.193Z,1628862853.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:13.193Z,1628862853.193 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:13.193Z,1628862853.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:13.194Z,1628862853.194 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:13.614Z,1628862853.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EED,000,00D23,186,80,80,AF,FF 2021-08-13T13:54:13.614Z,1628862853.614 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:13.614Z,1628862853.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:13.616Z,1628862853.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:14.022Z,1628862854.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:14.415Z,1628862854.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00D23,186,80,80,AF,FF 2021-08-13T13:54:14.415Z,1628862854.415 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:14.841Z,1628862854.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135415.14*5C 2021-08-13T13:54:14.883Z,1628862854.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.279999 m, bearing: 82.402448 deg, deltaT: 4.442768 s, approachRate: 0.000000 m/s, LOS rate: -0.207044 deg/s, posRepo size: 4 2021-08-13T13:54:17.288Z,1628862857.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:17.649Z,1628862857.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:17.649Z,1628862857.649 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:17.650Z,1628862857.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:17.651Z,1628862857.651 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:18.077Z,1628862858.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFD,000,00D23,186,80,80,AF,FF 2021-08-13T13:54:18.077Z,1628862858.077 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:18.077Z,1628862858.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:18.079Z,1628862858.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:18.469Z,1628862858.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:19.267Z,1628862859.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00D42,186,80,80,A9,FF 2021-08-13T13:54:19.273Z,1628862859.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:19.282Z,1628862859.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135419.60*53 2021-08-13T13:54:19.707Z,1628862859.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.139999 m, bearing: 81.768593 deg, deltaT: 4.847133 s, approachRate: 0.383732 m/s, LOS rate: -0.130769 deg/s, posRepo size: 4 2021-08-13T13:54:20.696Z,1628862860.696 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:54:22.187Z,1628862862.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:22.513Z,1628862862.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:22.514Z,1628862862.514 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:22.514Z,1628862862.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:22.515Z,1628862862.515 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:22.961Z,1628862862.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F09,000,00D42,186,80,80,A9,FF 2021-08-13T13:54:22.961Z,1628862862.961 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:22.961Z,1628862862.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:22.963Z,1628862862.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:23.367Z,1628862863.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:24.170Z,1628862864.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135424.49*56 2021-08-13T13:54:24.997Z,1628862864.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:25.778Z,1628862865.778 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T13:54:26.589Z,1628862866.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,186,80,80,A9,FF 2021-08-13T13:54:26.590Z,1628862866.590 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,186,80,80,A9,FF 2021-08-13T13:54:26.590Z,1628862866.590 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:54:27.825Z,1628862867.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:28.198Z,1628862868.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:28.198Z,1628862868.198 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:28.198Z,1628862868.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:28.199Z,1628862868.199 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:28.601Z,1628862868.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,186,80,80,A9,FF 2021-08-13T13:54:28.601Z,1628862868.601 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:28.601Z,1628862868.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:28.603Z,1628862868.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:29.025Z,1628862869.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:29.414Z,1628862869.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,00D61,186,80,80,A9,FF 2021-08-13T13:54:29.414Z,1628862869.414 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:29.856Z,1628862869.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135430.13*5C 2021-08-13T13:54:29.898Z,1628862869.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.000000 m, bearing: 81.841492 deg, deltaT: 10.164206 s, approachRate: 0.182995 m/s, LOS rate: 0.007172 deg/s, posRepo size: 4 2021-08-13T13:54:32.308Z,1628862872.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:32.645Z,1628862872.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:32.645Z,1628862872.645 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:32.645Z,1628862872.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:32.646Z,1628862872.646 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:33.059Z,1628862873.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F11,000,00D61,186,80,80,A9,FF 2021-08-13T13:54:33.060Z,1628862873.060 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:33.060Z,1628862873.060 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:33.063Z,1628862873.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:33.470Z,1628862873.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:33.861Z,1628862873.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00D61,186,80,80,A9,FF 2021-08-13T13:54:33.862Z,1628862873.862 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:34.273Z,1628862874.273 [Micromodem](INFO): Nmea in: $SNTTA,0.114425,0.382500,,,135434.59*5D 2021-08-13T13:54:34.325Z,1628862874.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.000000 m, bearing: 83.396924 deg, deltaT: 4.436459 s, approachRate: 0.000000 m/s, LOS rate: 0.350602 deg/s, posRepo size: 4 2021-08-13T13:54:35.698Z,1628862875.698 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T13:54:36.744Z,1628862876.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:37.089Z,1628862877.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:37.089Z,1628862877.089 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:37.089Z,1628862877.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:37.090Z,1628862877.090 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:37.513Z,1628862877.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EF3,000,00D61,186,80,80,A9,FF 2021-08-13T13:54:37.513Z,1628862877.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:37.513Z,1628862877.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:37.515Z,1628862877.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:37.905Z,1628862877.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:38.717Z,1628862878.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,00D7E,186,80,80,A3,FF 2021-08-13T13:54:38.717Z,1628862878.717 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:38.745Z,1628862878.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135439.04*53 2021-08-13T13:54:39.160Z,1628862879.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.740005 m, bearing: 82.432918 deg, deltaT: 4.875081 s, approachRate: 0.356918 m/s, LOS rate: -0.197742 deg/s, posRepo size: 4 2021-08-13T13:54:40.758Z,1628862880.758 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T13:54:41.584Z,1628862881.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:41.941Z,1628862881.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:41.941Z,1628862881.941 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:41.941Z,1628862881.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:41.942Z,1628862881.942 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:42.381Z,1628862882.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0D,000,00D7E,186,80,80,A3,FF 2021-08-13T13:54:42.381Z,1628862882.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:42.381Z,1628862882.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:42.383Z,1628862882.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:42.788Z,1628862882.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:43.186Z,1628862883.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00D7E,186,80,80,A3,FF 2021-08-13T13:54:43.186Z,1628862883.186 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:43.617Z,1628862883.617 [Micromodem](INFO): Nmea in: $SNTTA,0.117898,,,,135443.91*42 2021-08-13T13:54:43.700Z,1628862883.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.740005 m, bearing: 81.331639 deg, deltaT: 4.466937 s, approachRate: 0.000000 m/s, LOS rate: -0.246540 deg/s, posRepo size: 4 2021-08-13T13:54:44.414Z,1628862884.414 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:54:44.966Z,1628862884.966 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE 2021-08-13T13:54:44.967Z,1628862884.967 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 2021-08-13T13:54:44.967Z,1628862884.967 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4 2021-08-13T13:54:44.968Z,1628862884.968 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:54:45.221Z,1628862885.221 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:54:45.617Z,1628862885.617 [Micromodem](INFO): Nmea in: $CADRQ,135446,1,10,0,64,1*77 2021-08-13T13:54:45.617Z,1628862885.617 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*40 2021-08-13T13:54:46.019Z,1628862886.019 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:54:46.104Z,1628862886.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:46.421Z,1628862886.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:46.421Z,1628862886.421 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:46.421Z,1628862886.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:46.422Z,1628862886.422 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:46.428Z,1628862886.428 [Micromodem](INFO): Nmea in: $CADRQ,135447,1,10,0,64,2*75 2021-08-13T13:54:46.431Z,1628862886.431 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33 2021-08-13T13:54:46.890Z,1628862886.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F1F,000,00D7E,186,80,80,A3,FF 2021-08-13T13:54:46.890Z,1628862886.890 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:46.890Z,1628862886.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:46.893Z,1628862886.893 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:54:46.895Z,1628862886.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:47.279Z,1628862887.279 [Micromodem](INFO): Nmea in: $CADRQ,135447,1,10,0,64,3*74 2021-08-13T13:54:47.279Z,1628862887.279 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,135447,1,10,0,64,3*74 2021-08-13T13:54:47.693Z,1628862887.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00D7E,186,80,80,A3,FF 2021-08-13T13:54:47.694Z,1628862887.694 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:54:47.705Z,1628862887.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:48.146Z,1628862888.146 [Micromodem](INFO): Nmea in: $SNTTA,0.119915,,,,135448.42*4D 2021-08-13T13:54:48.217Z,1628862888.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.740005 m, bearing: 82.640323 deg, deltaT: 4.511085 s, approachRate: 0.000000 m/s, LOS rate: 0.290104 deg/s, posRepo size: 4 2021-08-13T13:54:50.568Z,1628862890.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:50.917Z,1628862890.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:50.917Z,1628862890.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:50.917Z,1628862890.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:50.918Z,1628862890.918 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:51.317Z,1628862891.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFF,000,00D7E,186,80,80,A3,FF 2021-08-13T13:54:51.317Z,1628862891.317 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:51.317Z,1628862891.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:51.319Z,1628862891.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:51.721Z,1628862891.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:52.155Z,1628862892.155 [Micromodem](INFO): Nmea in: $SNTTA,0.295123,0.294985,,,135452.84*53 2021-08-13T13:54:53.163Z,1628862893.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:54.953Z,1628862894.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,186,80,80,A3,FF 2021-08-13T13:54:54.953Z,1628862894.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,186,80,80,A3,FF 2021-08-13T13:54:54.953Z,1628862894.953 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:54:55.835Z,1628862895.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:54:56.191Z,1628862896.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:54:56.191Z,1628862896.191 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:54:56.191Z,1628862896.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:54:56.192Z,1628862896.192 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:54:56.599Z,1628862896.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,186,80,80,A3,FF 2021-08-13T13:54:56.599Z,1628862896.599 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:54:56.599Z,1628862896.599 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:54:56.601Z,1628862896.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:54:57.002Z,1628862897.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:54:57.830Z,1628862897.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135458.12*53 2021-08-13T13:54:58.660Z,1628862898.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:00.239Z,1628862900.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,186,80,80,A3,FF 2021-08-13T13:55:00.239Z,1628862900.239 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,186,80,80,A3,FF 2021-08-13T13:55:00.240Z,1628862900.240 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:55:00.679Z,1628862900.679 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:55:01.673Z,1628862901.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:01.855Z,1628862901.855 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:01.855Z,1628862901.855 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:01.855Z,1628862901.855 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:01.858Z,1628862901.858 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:02.253Z,1628862902.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,186,80,80,A3,FF 2021-08-13T13:55:02.253Z,1628862902.253 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:02.253Z,1628862902.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:02.255Z,1628862902.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:02.667Z,1628862902.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:03.076Z,1628862903.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00DB9,186,80,80,A3,FF 2021-08-13T13:55:03.077Z,1628862903.077 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:03.513Z,1628862903.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135503.78*50 2021-08-13T13:55:03.550Z,1628862903.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.280014 m, bearing: 78.398428 deg, deltaT: 15.319048 s, approachRate: 0.231085 m/s, LOS rate: -0.276903 deg/s, posRepo size: 4 2021-08-13T13:55:05.590Z,1628862905.590 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:55:05.625Z,1628862905.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:05.889Z,1628862905.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:05.890Z,1628862905.890 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:05.890Z,1628862905.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:05.891Z,1628862905.891 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:06.295Z,1628862906.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F29,000,00DB9,186,80,80,A3,FF 2021-08-13T13:55:06.295Z,1628862906.295 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:06.295Z,1628862906.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:06.299Z,1628862906.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:06.696Z,1628862906.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:07.102Z,1628862907.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00DB9,186,80,80,A3,FF 2021-08-13T13:55:07.102Z,1628862907.102 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:07.545Z,1628862907.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135507.82*51 2021-08-13T13:55:07.584Z,1628862907.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.280014 m, bearing: 76.361221 deg, deltaT: 4.063999 s, approachRate: 0.000000 m/s, LOS rate: -0.501281 deg/s, posRepo size: 4 2021-08-13T13:55:09.961Z,1628862909.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:10.339Z,1628862910.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:10.339Z,1628862910.339 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:10.339Z,1628862910.339 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:10.340Z,1628862910.340 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:10.734Z,1628862910.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F4D,000,00DB9,186,80,80,A3,FF 2021-08-13T13:55:10.734Z,1628862910.734 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:10.734Z,1628862910.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:10.736Z,1628862910.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:10.811Z,1628862910.811 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:55:11.146Z,1628862911.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:11.961Z,1628862911.961 [Micromodem](INFO): Nmea in: $SNTTA,0.115907,,,,135512.26*4E 2021-08-13T13:55:12.587Z,1628862912.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:14.383Z,1628862914.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,A3,FF 2021-08-13T13:55:14.383Z,1628862914.383 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 9,186,80,80,A3,FF 2021-08-13T13:55:14.383Z,1628862914.383 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:55:15.196Z,1628862915.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:15.589Z,1628862915.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:15.589Z,1628862915.589 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:15.590Z,1628862915.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:15.590Z,1628862915.590 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:15.985Z,1628862915.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,A3,FF 2021-08-13T13:55:15.985Z,1628862915.985 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:15.986Z,1628862915.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:15.987Z,1628862915.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:16.404Z,1628862916.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:16.804Z,1628862916.804 [Micromodem](INFO): Nmea in: $CAERR,135517,DATA_TIMEOUT,3*48 2021-08-13T13:55:17.198Z,1628862917.198 [Micromodem](INFO): Nmea in: $CATXP,128*49 2021-08-13T13:55:18.087Z,1628862918.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:19.623Z,1628862919.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,A3,FF 2021-08-13T13:55:19.623Z,1628862919.623 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 9,186,80,80,A3,FF 2021-08-13T13:55:19.624Z,1628862919.624 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:55:19.626Z,1628862919.626 [Micromodem](INFO): Nmea in: $CATXF,128*5F 2021-08-13T13:55:20.063Z,1628862920.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135517.51*5E 2021-08-13T13:55:21.041Z,1628862921.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:21.245Z,1628862921.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:21.246Z,1628862921.246 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:21.246Z,1628862921.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:21.247Z,1628862921.247 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:21.258Z,1628862921.258 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,135518.010989,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*6D 2021-08-13T13:55:21.645Z,1628862921.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,A3,FF 2021-08-13T13:55:21.645Z,1628862921.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:21.646Z,1628862921.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:21.647Z,1628862921.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:22.120Z,1628862922.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:22.884Z,1628862922.884 [Micromodem](INFO): Nmea in: $SNTTA,0.466386,,,,135523.17*4C 2021-08-13T13:55:23.261Z,1628862923.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,02FC9,184,80,80,8F,FF 2021-08-13T13:55:23.261Z,1628862923.261 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:23.718Z,1628862923.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 696.479980 m, bearing: 68.176558 deg, deltaT: 16.146742 s, approachRate: 32.402817 m/s, LOS rate: -0.506893 deg/s, posRepo size: 4 2021-08-13T13:55:23.718Z,1628862923.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 696.48 m. Resuming terminal guidance. 2021-08-13T13:55:23.718Z,1628862923.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T13:55:24.156Z,1628862924.156 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T13:55:24.157Z,1628862924.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T13:55:24.157Z,1628862924.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T13:55:24.157Z,1628862924.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T13:55:24.157Z,1628862924.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T13:55:24.157Z,1628862924.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T13:55:24.157Z,1628862924.157 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T13:55:26.186Z,1628862926.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:26.529Z,1628862926.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:26.530Z,1628862926.530 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:26.530Z,1628862926.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:26.531Z,1628862926.531 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:26.946Z,1628862926.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB1,000,02FC9,184,80,80,8F,FF 2021-08-13T13:55:26.946Z,1628862926.946 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:26.946Z,1628862926.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:26.949Z,1628862926.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:27.341Z,1628862927.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:28.197Z,1628862928.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00DFF,185,80,80,93,FF 2021-08-13T13:55:28.198Z,1628862928.198 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:28.200Z,1628862928.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135528.47*55 2021-08-13T13:55:28.628Z,1628862928.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.479996 m, bearing: 65.668000 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T13:55:28.629Z,1628862928.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 65.668000deg and heading rate command to 0 deg/s. 2021-08-13T13:55:31.002Z,1628862931.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:31.381Z,1628862931.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:31.382Z,1628862931.382 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:31.382Z,1628862931.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:31.383Z,1628862931.383 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:31.786Z,1628862931.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD0,000,00DFF,185,80,80,93,FF 2021-08-13T13:55:31.786Z,1628862931.786 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:31.786Z,1628862931.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:31.788Z,1628862931.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:32.359Z,1628862932.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:32.753Z,1628862932.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00E1E,186,80,80,86,FF 2021-08-13T13:55:32.754Z,1628862932.754 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:33.185Z,1628862933.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135533.31*5E 2021-08-13T13:55:33.241Z,1628862933.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.339996 m, bearing: 52.242136 deg, deltaT: 4.594464 s, approachRate: 0.404835 m/s, LOS rate: -2.922183 deg/s, posRepo size: 2 2021-08-13T13:55:33.243Z,1628862933.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 52.242136 deg, approachRate: 0.404835 m/s, LOS rate: -2.922183 deg/s, cmd update: -8.766549 deg/s, cmd heading: 65.668000 deg, new cmd heading: 65.668000 deg. 2021-08-13T13:55:35.672Z,1628862935.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:36.037Z,1628862936.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:36.038Z,1628862936.038 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:36.039Z,1628862936.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:36.040Z,1628862936.040 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:36.424Z,1628862936.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A8,000,00E1E,186,80,80,86,FF 2021-08-13T13:55:36.424Z,1628862936.424 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:36.425Z,1628862936.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:36.427Z,1628862936.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:36.844Z,1628862936.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:37.243Z,1628862937.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A8,000,00E1E,186,80,80,86,FF 2021-08-13T13:55:37.244Z,1628862937.244 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:37.669Z,1628862937.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135537.96*57 2021-08-13T13:55:37.717Z,1628862937.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.339996 m, bearing: 37.790521 deg, deltaT: 4.480767 s, approachRate: 0.000000 m/s, LOS rate: -3.225255 deg/s, posRepo size: 3 2021-08-13T13:55:37.719Z,1628862937.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 37.790521 deg, approachRate: 0.000000 m/s, LOS rate: -3.225255 deg/s, cmd update: -9.675764 deg/s, cmd heading: 26.439325 deg, new cmd heading: 22.797797 deg. 2021-08-13T13:55:40.313Z,1628862940.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:40.531Z,1628862940.531 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:40.537Z,1628862940.537 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:40.539Z,1628862940.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:40.542Z,1628862940.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:40.878Z,1628862940.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1A8,000,00E1E,186,80,80,86,FF 2021-08-13T13:55:40.878Z,1628862940.878 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:40.879Z,1628862940.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:40.882Z,1628862940.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:41.293Z,1628862941.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:41.694Z,1628862941.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,00E1E,186,80,80,86,FF 2021-08-13T13:55:41.694Z,1628862941.694 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:42.143Z,1628862942.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135542.40*5E 2021-08-13T13:55:42.210Z,1628862942.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.339996 m, bearing: 62.689956 deg, deltaT: 4.455546 s, approachRate: 0.000000 m/s, LOS rate: 5.588414 deg/s, posRepo size: 4 2021-08-13T13:55:42.217Z,1628862942.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.339996 m, bearing: 62.689956 deg, approachRate: 0.000000 m/s, LOS rate: 5.588414 deg/s, cmd update: 12.000000 deg/s, cmd heading: 343.270644 deg, new cmd heading: 338.935989 deg. 2021-08-13T13:55:44.735Z,1628862944.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:44.941Z,1628862944.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:44.941Z,1628862944.941 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:44.941Z,1628862944.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:44.942Z,1628862944.942 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:45.325Z,1628862945.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA8,000,00E1E,186,80,80,86,FF 2021-08-13T13:55:45.325Z,1628862945.325 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:45.325Z,1628862945.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:45.327Z,1628862945.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:45.740Z,1628862945.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:46.553Z,1628862946.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,369,000,00ECA,189,80,80,99,FF 2021-08-13T13:55:46.553Z,1628862946.553 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:46.557Z,1628862946.557 [Micromodem](INFO): Nmea in: $SNTTA,,0.249923,,,135546.85*4A 2021-08-13T13:55:46.983Z,1628862946.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.659988 m, bearing: 346.788293 deg, deltaT: 4.990608 s, approachRate: 2.067883 m/s, LOS rate: -15.208902 deg/s, posRepo size: 4 2021-08-13T13:55:46.985Z,1628862946.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.208902 deg/s. Setting heading cmd to target bearing of 346.788293deg and heading rate command to 0 deg/s. 2021-08-13T13:55:49.383Z,1628862949.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:49.769Z,1628862949.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:49.769Z,1628862949.769 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:49.769Z,1628862949.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:49.770Z,1628862949.770 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:50.177Z,1628862950.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 369,000,00ECA,189,80,80,99,FF 2021-08-13T13:55:50.178Z,1628862950.178 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:50.178Z,1628862950.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:50.179Z,1628862950.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:50.574Z,1628862950.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:55:50.588Z,1628862950.588 [Micromodem](ERROR): Buffer fill timout failure. 2021-08-13T13:55:51.152Z,1628862951.152 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE 2021-08-13T13:55:51.153Z,1628862951.153 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 2021-08-13T13:55:51.153Z,1628862951.153 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4 2021-08-13T13:55:51.154Z,1628862951.154 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-08-13T13:55:51.586Z,1628862951.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,00EFF,188,80,80,91,FF 2021-08-13T13:55:51.586Z,1628862951.586 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:55:51.613Z,1628862951.613 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-08-13T13:55:52.024Z,1628862952.024 [Micromodem](INFO): Nmea in: $CADRQ,135552,1,10,0,64,1*73 2021-08-13T13:55:52.026Z,1628862952.026 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,69661661180001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*40 2021-08-13T13:55:52.146Z,1628862952.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.839981 m, bearing: 336.664314 deg, deltaT: 4.902041 s, approachRate: 0.648708 m/s, LOS rate: -2.065258 deg/s, posRepo size: 4 2021-08-13T13:55:52.152Z,1628862952.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.839981 m, bearing: 336.664314 deg, approachRate: 0.648708 m/s, LOS rate: -2.065258 deg/s, cmd update: -6.195774 deg/s, cmd heading: 346.788293 deg, new cmd heading: 346.788293 deg. 2021-08-13T13:55:52.406Z,1628862952.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135551.70*5F 2021-08-13T13:55:52.406Z,1628862952.406 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,135551.70*5F 2021-08-13T13:55:53.621Z,1628862953.621 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:55:54.033Z,1628862954.033 [Micromodem](INFO): Nmea in: $CADRQ,135553,1,10,0,64,2*71 2021-08-13T13:55:54.034Z,1628862954.034 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33 2021-08-13T13:55:54.170Z,1628862954.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:54.429Z,1628862954.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:55:54.429Z,1628862954.429 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:55:54.429Z,1628862954.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:55:54.430Z,1628862954.430 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:55:54.439Z,1628862954.439 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:55:54.809Z,1628862954.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 31E,000,00EFF,188,80,80,91,FF 2021-08-13T13:55:54.809Z,1628862954.809 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:55:54.810Z,1628862954.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:55:54.811Z,1628862954.811 [Micromodem](INFO): Nmea in: $CADRQ,135555,1,10,0,64,3*76 2021-08-13T13:55:54.845Z,1628862954.845 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70717595A8392BCFFB32A32DCC83671634CA16B10A1E507F393DD0AD8C1A5ED96D20B73CA4*4F 2021-08-13T13:55:55.231Z,1628862955.231 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T13:55:55.231Z,1628862955.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:55:55.618Z,1628862955.618 [Micromodem](INFO): Nmea in: $CATXP,192*48 2021-08-13T13:55:55.618Z,1628862955.618 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48 2021-08-13T13:55:56.879Z,1628862956.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:55:59.303Z,1628862959.303 [Micromodem](INFO): Nmea in: $CATXF,192*5E 2021-08-13T13:55:59.303Z,1628862959.303 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E 2021-08-13T13:55:59.664Z,1628862959.664 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,135556.417062,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*68 2021-08-13T13:55:59.664Z,1628862959.664 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,135556.417062,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*68 2021-08-13T13:55:59.858Z,1628862959.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:00.488Z,1628862960.488 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057936 2021-08-13T13:56:02.557Z,1628862962.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:02.899Z,1628862962.899 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:02.899Z,1628862962.899 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:02.899Z,1628862962.899 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:02.900Z,1628862962.900 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:02.910Z,1628862962.910 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T13:56:03.294Z,1628862963.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 31E,000,00EFF,188,80,80,91,FF 2021-08-13T13:56:03.295Z,1628862963.295 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:03.295Z,1628862963.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:03.298Z,1628862963.298 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-08-13T13:56:03.692Z,1628862963.692 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79 2021-08-13T13:56:03.693Z,1628862963.693 [Micromodem](INFO): Sent 184 bytes from file Logs/20210813T123241/Courier0024.lzma.parts 2021-08-13T13:56:03.693Z,1628862963.693 [Micromodem](INFO): Packets left to send: 1 2021-08-13T13:56:04.126Z,1628862964.126 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813135603.250781,06,32767,45,0137,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,5.1,8.60,20,-5.60,-01,0.14,50,14500,4000*5B 2021-08-13T13:56:04.126Z,1628862964.126 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813135603.250781,06,32767,45,0137,0150,29,01,01,00,01,1,010,001,0,4,1,0,150,5.1,8.60,20,-5.60,-01,0.14,50,14500,4000*5B 2021-08-13T13:56:04.299Z,1628862964.299 [Micromodem](INFO): Using rate 1 for 10 bytes. 2021-08-13T13:56:04.300Z,1628862964.300 [Micromodem](INFO): Outgoing frame #1, 10 bytes: 6966166118000000E000 2021-08-13T13:56:05.147Z,1628862965.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:06.334Z,1628862966.334 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:06.895Z,1628862966.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:06.912Z,1628862966.912 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T13:56:07.295Z,1628862967.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F61,189,80,80,9F,FF 2021-08-13T13:56:07.296Z,1628862967.296 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:07.299Z,1628862967.299 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T13:56:07.703Z,1628862967.703 [Micromodem](INFO): Nmea in: $CADRQ,135608,1,10,0,64,1*7F 2021-08-13T13:56:07.703Z,1628862967.703 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32 2021-08-13T13:56:07.704Z,1628862967.704 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6966166118000000E000*3A 2021-08-13T13:56:07.884Z,1628862967.884 [Micromodem](INFO): Using rate 0 for 10 bytes. 2021-08-13T13:56:07.885Z,1628862967.885 [Micromodem](INFO): Outgoing frame #1, 10 bytes: 6966166118000000E000 2021-08-13T13:56:07.945Z,1628862967.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.719986 m, bearing: 254.888453 deg, deltaT: 15.654831 s, approachRate: 0.375603 m/s, LOS rate: -5.223682 deg/s, posRepo size: 4 2021-08-13T13:56:07.947Z,1628862967.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 198.719986 m, bearing: 254.888453 deg, approachRate: 0.375603 m/s, LOS rate: -5.223682 deg/s, cmd update: -12.000000 deg/s, cmd heading: 249.769364 deg, new cmd heading: 245.863090 deg. 2021-08-13T13:56:08.154Z,1628862968.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135607.86*56 2021-08-13T13:56:08.154Z,1628862968.154 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,135607.86*56 2021-08-13T13:56:09.385Z,1628862969.385 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,10*4A 2021-08-13T13:56:09.385Z,1628862969.385 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T13:56:09.776Z,1628862969.776 [Micromodem](INFO): Nmea in: $CATXP,10*73 2021-08-13T13:56:09.777Z,1628862969.777 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73 2021-08-13T13:56:09.863Z,1628862969.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:10.165Z,1628862970.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:10.166Z,1628862970.166 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:10.166Z,1628862970.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:10.167Z,1628862970.167 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:10.174Z,1628862970.174 [Micromodem](INFO): Nmea in: $CATXF,10*65 2021-08-13T13:56:10.175Z,1628862970.175 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65 2021-08-13T13:56:10.598Z,1628862970.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00F61,189,80,80,9F,FF 2021-08-13T13:56:10.598Z,1628862970.598 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:10.598Z,1628862970.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:10.603Z,1628862970.603 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,135609.197062,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*57 2021-08-13T13:56:10.604Z,1628862970.604 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,135609.197062,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*57 2021-08-13T13:56:11.835Z,1628862971.835 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T13:56:11.835Z,1628862971.835 [Micromodem](INFO): Sent 2 bytes from file Logs/20210813T123241/Courier0024.lzma.parts 2021-08-13T13:56:11.836Z,1628862971.836 [Micromodem](INFO): Packets left to send: 0 2021-08-13T13:56:12.255Z,1628862972.255 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813135612.174746,06,32767,45,0167,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,6.5,6.01,12,-3.01,-01,-0.25,44,14500,4000*7F 2021-08-13T13:56:12.255Z,1628862972.255 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813135612.174746,06,32767,45,0167,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,6.5,6.01,12,-3.01,-01,-0.25,44,14500,4000*7F 2021-08-13T13:56:12.539Z,1628862972.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:12.539Z,1628862972.539 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T13:56:12.539Z,1628862972.539 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T13:56:12.539Z,1628862972.539 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T13:56:12.544Z,1628862972.544 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T13:56:12.544Z,1628862972.544 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T13:56:15.275Z,1628862975.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:16.461Z,1628862976.461 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.293622 2021-08-13T13:56:18.143Z,1628862978.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:18.466Z,1628862978.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:18.466Z,1628862978.466 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:18.467Z,1628862978.467 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:18.469Z,1628862978.469 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:18.866Z,1628862978.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00F61,189,80,80,9F,FF 2021-08-13T13:56:18.866Z,1628862978.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:18.866Z,1628862978.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:20.521Z,1628862980.521 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69 2021-08-13T13:56:20.898Z,1628862980.898 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T13:56:20.899Z,1628862980.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:20.903Z,1628862980.903 [Micromodem](INFO): Nmea in: $CADRQ,135621,1,10,0,64,1*74 2021-08-13T13:56:20.905Z,1628862980.905 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,135621,1,10,0,64,1*74 2021-08-13T13:56:21.020Z,1628862981.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:21.350Z,1628862981.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:21.778Z,1628862981.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00F2E,189,80,80,98,FF 2021-08-13T13:56:21.778Z,1628862981.778 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:22.158Z,1628862982.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135622.42*59 2021-08-13T13:56:22.193Z,1628862982.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.659988 m, bearing: 230.938313 deg, deltaT: 14.537330 s, approachRate: -0.210492 m/s, LOS rate: -1.647492 deg/s, posRepo size: 4 2021-08-13T13:56:22.195Z,1628862982.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.659988 m, bearing: 230.938313 deg, approachRate: -0.210492 m/s, LOS rate: -1.647492 deg/s, cmd update: -4.942477 deg/s, cmd heading: 75.323812 deg, new cmd heading: 71.220004 deg. 2021-08-13T13:56:24.751Z,1628862984.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:24.969Z,1628862984.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:24.969Z,1628862984.969 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:24.969Z,1628862984.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:24.970Z,1628862984.970 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:25.393Z,1628862985.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 25D,000,00F2E,189,80,80,98,FF 2021-08-13T13:56:25.393Z,1628862985.393 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:25.393Z,1628862985.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:25.395Z,1628862985.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:25.781Z,1628862985.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:26.594Z,1628862986.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,00F0E,185,80,80,98,FF 2021-08-13T13:56:26.595Z,1628862986.595 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:26.598Z,1628862986.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135626.92*50 2021-08-13T13:56:27.035Z,1628862987.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.739975 m, bearing: 235.013832 deg, deltaT: 4.808682 s, approachRate: -0.399281 m/s, LOS rate: 0.847534 deg/s, posRepo size: 4 2021-08-13T13:56:27.037Z,1628862987.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.739975 m, bearing: 235.013832 deg, approachRate: -0.399281 m/s, LOS rate: 0.847534 deg/s, cmd update: 2.542601 deg/s, cmd heading: 51.596864 deg, new cmd heading: 49.701715 deg. 2021-08-13T13:56:29.487Z,1628862989.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:29.813Z,1628862989.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:29.813Z,1628862989.813 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:29.813Z,1628862989.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:29.814Z,1628862989.814 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:30.229Z,1628862990.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 12E,000,00F0E,185,80,80,98,FF 2021-08-13T13:56:30.229Z,1628862990.229 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:30.229Z,1628862990.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:30.231Z,1628862990.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:30.686Z,1628862990.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:31.070Z,1628862991.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,00F0E,185,80,80,98,FF 2021-08-13T13:56:31.070Z,1628862991.070 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:31.530Z,1628862991.530 [Micromodem](INFO): Nmea in: $SNTTA,0.129989,,,,135631.75*43 2021-08-13T13:56:31.556Z,1628862991.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.739975 m, bearing: 228.158412 deg, deltaT: 4.452686 s, approachRate: 0.000000 m/s, LOS rate: -1.539614 deg/s, posRepo size: 4 2021-08-13T13:56:31.558Z,1628862991.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 193.739975 m, bearing: 228.158412 deg, approachRate: 0.000000 m/s, LOS rate: -1.539614 deg/s, cmd update: -4.618844 deg/s, cmd heading: 62.885914 deg, new cmd heading: 64.067120 deg. 2021-08-13T13:56:33.917Z,1628862993.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:34.301Z,1628862994.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:34.301Z,1628862994.301 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:34.301Z,1628862994.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:34.302Z,1628862994.302 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:34.710Z,1628862994.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2FF,000,00F0E,185,80,80,98,FF 2021-08-13T13:56:34.710Z,1628862994.710 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:34.710Z,1628862994.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:34.711Z,1628862994.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:35.112Z,1628862995.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:35.945Z,1628862995.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,501,000,00ED2,189,80,80,AE,FF 2021-08-13T13:56:35.945Z,1628862995.945 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:35.948Z,1628862995.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135636.24*5C 2021-08-13T13:56:36.377Z,1628862996.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.139984 m, bearing: 222.899672 deg, deltaT: 4.898327 s, approachRate: -0.734943 m/s, LOS rate: -1.073579 deg/s, posRepo size: 4 2021-08-13T13:56:36.379Z,1628862996.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.139984 m, bearing: 222.899672 deg, approachRate: -0.734943 m/s, LOS rate: -1.073579 deg/s, cmd update: -3.220736 deg/s, cmd heading: 40.271547 deg, new cmd heading: 38.474683 deg. 2021-08-13T13:56:38.782Z,1628862998.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:39.165Z,1628862999.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:39.165Z,1628862999.165 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:39.165Z,1628862999.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:39.166Z,1628862999.166 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:39.557Z,1628862999.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 501,000,00ED2,189,80,80,AE,FF 2021-08-13T13:56:39.557Z,1628862999.557 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:39.557Z,1628862999.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:39.559Z,1628862999.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:39.964Z,1628862999.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:40.789Z,1628863000.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,00EC3,189,80,80,AC,FF 2021-08-13T13:56:40.790Z,1628863000.790 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:40.792Z,1628863000.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135641.08*52 2021-08-13T13:56:41.207Z,1628863001.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.239990 m, bearing: 344.893435 deg, deltaT: 4.850350 s, approachRate: -0.185552 m/s, LOS rate: 25.151538 deg/s, posRepo size: 4 2021-08-13T13:56:41.208Z,1628863001.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.151538 deg/s. Setting heading cmd to target bearing of 344.893435deg and heading rate command to 0 deg/s. 2021-08-13T13:56:43.595Z,1628863003.595 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T13:56:43.653Z,1628863003.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:44.012Z,1628863004.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:44.012Z,1628863004.012 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:44.013Z,1628863004.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:44.014Z,1628863004.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:44.406Z,1628863004.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D4A,000,00EC3,189,80,80,AC,FF 2021-08-13T13:56:44.406Z,1628863004.406 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:44.406Z,1628863004.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:44.407Z,1628863004.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:44.812Z,1628863004.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:45.657Z,1628863005.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,00ED0,188,80,80,B0,FF 2021-08-13T13:56:45.657Z,1628863005.657 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:45.660Z,1628863005.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135645.93*54 2021-08-13T13:56:46.097Z,1628863006.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.019974 m, bearing: 10.167115 deg, deltaT: 4.825132 s, approachRate: 0.161650 m/s, LOS rate: 5.237926 deg/s, posRepo size: 4 2021-08-13T13:56:46.099Z,1628863006.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.019974 m, bearing: 10.167115 deg, approachRate: 0.161650 m/s, LOS rate: 5.237926 deg/s, cmd update: 12.000000 deg/s, cmd heading: 344.893435 deg, new cmd heading: 344.893435 deg. 2021-08-13T13:56:48.519Z,1628863008.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:48.857Z,1628863008.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:48.857Z,1628863008.857 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:48.857Z,1628863008.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:48.858Z,1628863008.858 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:49.257Z,1628863009.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D03,000,00ED0,188,80,80,B0,FF 2021-08-13T13:56:49.257Z,1628863009.257 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:49.257Z,1628863009.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:49.259Z,1628863009.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:49.664Z,1628863009.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:50.106Z,1628863010.106 [Micromodem](INFO): Nmea in: $SNTTA,0.129589,0.280388,,,135650.78*52 2021-08-13T13:56:50.867Z,1628863010.867 [Micromodem](INFO): Nmea in: $CAERR,135651,DATA_TIMEOUT,1*4B 2021-08-13T13:56:51.330Z,1628863011.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:52.902Z,1628863012.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 0,188,80,80,B0,FF 2021-08-13T13:56:52.902Z,1628863012.902 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 0,188,80,80,B0,FF 2021-08-13T13:56:52.902Z,1628863012.902 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:56:54.158Z,1628863014.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:54.545Z,1628863014.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:54.545Z,1628863014.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:54.545Z,1628863014.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:54.546Z,1628863014.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:54.915Z,1628863014.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 0,188,80,80,B0,FF 2021-08-13T13:56:54.915Z,1628863014.915 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:54.915Z,1628863014.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:54.917Z,1628863014.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:56:55.320Z,1628863015.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:56:56.141Z,1628863016.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00F17,189,80,80,A3,FF 2021-08-13T13:56:56.142Z,1628863016.142 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:56:56.145Z,1628863016.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135656.44*5C 2021-08-13T13:56:56.562Z,1628863016.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.279999 m, bearing: 337.190839 deg, deltaT: 10.539840 s, approachRate: 0.404183 m/s, LOS rate: -3.128727 deg/s, posRepo size: 4 2021-08-13T13:56:56.572Z,1628863016.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 194.279999 m, bearing: 337.190839 deg, approachRate: 0.404183 m/s, LOS rate: -3.128727 deg/s, cmd update: -9.386180 deg/s, cmd heading: 111.371014 deg, new cmd heading: 115.400878 deg. 2021-08-13T13:56:58.970Z,1628863018.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:56:59.353Z,1628863019.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:56:59.354Z,1628863019.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:56:59.354Z,1628863019.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:56:59.355Z,1628863019.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:56:59.753Z,1628863019.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 277,000,00F17,189,80,80,A3,FF 2021-08-13T13:56:59.753Z,1628863019.753 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:56:59.753Z,1628863019.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:56:59.755Z,1628863019.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:00.175Z,1628863020.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:00.993Z,1628863020.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1A,000,00F4B,189,80,80,4B,FF 2021-08-13T13:57:00.994Z,1628863020.994 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:00.998Z,1628863020.998 [Micromodem](INFO): Nmea in: $SNTTA,0.146288,,,,135701.28*4A 2021-08-13T13:57:01.407Z,1628863021.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.399994 m, bearing: 66.605696 deg, deltaT: 4.820197 s, approachRate: 0.647275 m/s, LOS rate: 18.550039 deg/s, posRepo size: 4 2021-08-13T13:57:01.408Z,1628863021.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.550039 deg/s. Setting heading cmd to target bearing of 66.605696deg and heading rate command to 0 deg/s. 2021-08-13T13:57:03.821Z,1628863023.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:04.209Z,1628863024.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:04.209Z,1628863024.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:04.210Z,1628863024.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:04.211Z,1628863024.211 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:04.605Z,1628863024.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D1A,000,00F4B,189,80,80,4B,FF 2021-08-13T13:57:04.605Z,1628863024.605 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:04.605Z,1628863024.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:04.607Z,1628863024.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:05.011Z,1628863025.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:05.839Z,1628863025.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135706.13*5A 2021-08-13T13:57:06.702Z,1628863026.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:08.237Z,1628863028.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 B,189,80,80,4B,FF 2021-08-13T13:57:08.237Z,1628863028.237 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 B,189,80,80,4B,FF 2021-08-13T13:57:08.237Z,1628863028.237 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:57:09.509Z,1628863029.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:09.861Z,1628863029.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:09.861Z,1628863029.861 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:09.861Z,1628863029.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:09.862Z,1628863029.862 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:10.257Z,1628863030.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 B,189,80,80,4B,FF 2021-08-13T13:57:10.257Z,1628863030.257 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:10.257Z,1628863030.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:10.259Z,1628863030.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:10.664Z,1628863030.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:11.518Z,1628863031.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00FD2,189,80,80,60,FF 2021-08-13T13:57:11.519Z,1628863031.519 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:11.523Z,1628863031.523 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135711.78*51 2021-08-13T13:57:11.914Z,1628863031.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.499985 m, bearing: 32.458746 deg, deltaT: 10.545171 s, approachRate: 0.768123 m/s, LOS rate: -3.238160 deg/s, posRepo size: 4 2021-08-13T13:57:11.916Z,1628863031.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.499985 m, bearing: 32.458746 deg, approachRate: 0.768123 m/s, LOS rate: -3.238160 deg/s, cmd update: -9.714480 deg/s, cmd heading: 66.605696 deg, new cmd heading: 66.605696 deg. 2021-08-13T13:57:14.343Z,1628863034.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:14.697Z,1628863034.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:14.697Z,1628863034.697 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:14.698Z,1628863034.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:14.699Z,1628863034.699 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:15.114Z,1628863035.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 290,000,00FD2,189,80,80,60,FF 2021-08-13T13:57:15.114Z,1628863035.114 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:15.114Z,1628863035.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:15.116Z,1628863035.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:15.528Z,1628863035.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:16.341Z,1628863036.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,01013,185,80,80,75,FF 2021-08-13T13:57:16.341Z,1628863036.341 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:16.345Z,1628863036.345 [Micromodem](INFO): Nmea in: $SNTTA,0.141430,,,,135716.64*46 2021-08-13T13:57:16.779Z,1628863036.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.399994 m, bearing: 74.869098 deg, deltaT: 4.885289 s, approachRate: 0.798317 m/s, LOS rate: 8.681237 deg/s, posRepo size: 4 2021-08-13T13:57:16.785Z,1628863036.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 209.399994 m, bearing: 74.869098 deg, approachRate: 0.798317 m/s, LOS rate: 8.681237 deg/s, cmd update: 12.000000 deg/s, cmd heading: 19.324303 deg, new cmd heading: 16.136447 deg. 2021-08-13T13:57:19.162Z,1628863039.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:19.549Z,1628863039.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:19.549Z,1628863039.549 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:19.549Z,1628863039.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:19.550Z,1628863039.550 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:19.957Z,1628863039.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBA,000,01013,185,80,80,75,FF 2021-08-13T13:57:19.958Z,1628863039.958 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:19.958Z,1628863039.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:19.959Z,1628863039.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:20.357Z,1628863040.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:21.189Z,1628863041.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,01055,189,80,80,6B,FF 2021-08-13T13:57:21.189Z,1628863041.189 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:21.193Z,1628863041.193 [Micromodem](INFO): Nmea in: $SNTTA,0.144506,,,,135721.49*4C 2021-08-13T13:57:21.618Z,1628863041.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.359985 m, bearing: 6.902446 deg, deltaT: 4.771831 s, approachRate: 0.829868 m/s, LOS rate: -14.243307 deg/s, posRepo size: 4 2021-08-13T13:57:21.619Z,1628863041.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.243307 deg/s. Setting heading cmd to target bearing of 6.902446deg and heading rate command to 0 deg/s. 2021-08-13T13:57:24.075Z,1628863044.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:24.405Z,1628863044.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:24.405Z,1628863044.405 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:24.405Z,1628863044.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:24.406Z,1628863044.406 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:24.801Z,1628863044.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2B4,000,01055,189,80,80,6B,FF 2021-08-13T13:57:24.801Z,1628863044.801 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:24.801Z,1628863044.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:24.803Z,1628863044.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:25.213Z,1628863045.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:26.061Z,1628863046.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,01098,186,80,80,68,FF 2021-08-13T13:57:26.062Z,1628863046.062 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:26.065Z,1628863046.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135726.33*5A 2021-08-13T13:57:26.524Z,1628863046.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.379990 m, bearing: 58.201872 deg, deltaT: 4.924487 s, approachRate: 0.816330 m/s, LOS rate: 10.417212 deg/s, posRepo size: 4 2021-08-13T13:57:26.526Z,1628863046.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 217.379990 m, bearing: 58.201872 deg, approachRate: 0.816330 m/s, LOS rate: 10.417212 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.902446 deg, new cmd heading: 6.902446 deg. 2021-08-13T13:57:28.921Z,1628863048.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:29.289Z,1628863049.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:29.290Z,1628863049.290 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:29.290Z,1628863049.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:29.291Z,1628863049.291 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:29.693Z,1628863049.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7D,000,01098,186,80,80,68,FF 2021-08-13T13:57:29.693Z,1628863049.693 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:29.693Z,1628863049.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:29.695Z,1628863049.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:30.105Z,1628863050.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:30.921Z,1628863050.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,010DB,187,80,80,79,FF 2021-08-13T13:57:30.921Z,1628863050.921 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:30.948Z,1628863050.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135731.22*5C 2021-08-13T13:57:31.332Z,1628863051.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.399994 m, bearing: 40.502206 deg, deltaT: 4.790252 s, approachRate: 0.839205 m/s, LOS rate: -3.694934 deg/s, posRepo size: 4 2021-08-13T13:57:31.334Z,1628863051.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.399994 m, bearing: 40.502206 deg, approachRate: 0.839205 m/s, LOS rate: -3.694934 deg/s, cmd update: -11.084803 deg/s, cmd heading: 64.487700 deg, new cmd heading: 68.905356 deg. 2021-08-13T13:57:33.771Z,1628863053.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:34.129Z,1628863054.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:34.129Z,1628863054.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:34.129Z,1628863054.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:34.130Z,1628863054.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:34.533Z,1628863054.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B5,000,010DB,187,80,80,79,FF 2021-08-13T13:57:34.533Z,1628863054.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:34.533Z,1628863054.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:34.535Z,1628863054.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:34.949Z,1628863054.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:35.785Z,1628863055.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,01123,189,80,80,83,FF 2021-08-13T13:57:35.785Z,1628863055.785 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:35.788Z,1628863055.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135736.06*5D 2021-08-13T13:57:36.204Z,1628863056.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.719986 m, bearing: 12.425161 deg, deltaT: 4.895049 s, approachRate: 0.882523 m/s, LOS rate: -5.735805 deg/s, posRepo size: 4 2021-08-13T13:57:36.206Z,1628863056.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.719986 m, bearing: 12.425161 deg, approachRate: 0.882523 m/s, LOS rate: -5.735805 deg/s, cmd update: -12.000000 deg/s, cmd heading: 10.409193 deg, new cmd heading: 6.398401 deg. 2021-08-13T13:57:38.613Z,1628863058.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:38.977Z,1628863058.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:38.977Z,1628863058.977 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:38.977Z,1628863058.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:38.978Z,1628863058.978 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:39.381Z,1628863059.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 27F,000,01123,189,80,80,83,FF 2021-08-13T13:57:39.381Z,1628863059.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:39.381Z,1628863059.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:39.383Z,1628863059.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:39.797Z,1628863059.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:40.637Z,1628863060.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,01164,186,80,80,8B,FF 2021-08-13T13:57:40.639Z,1628863060.639 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:40.647Z,1628863060.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135740.91*52 2021-08-13T13:57:41.031Z,1628863061.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.619995 m, bearing: 58.759981 deg, deltaT: 4.846884 s, approachRate: 0.804643 m/s, LOS rate: 9.559714 deg/s, posRepo size: 4 2021-08-13T13:57:41.034Z,1628863061.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 229.619995 m, bearing: 58.759981 deg, approachRate: 0.804643 m/s, LOS rate: 9.559714 deg/s, cmd update: 12.000000 deg/s, cmd heading: 312.438943 deg, new cmd heading: 308.136775 deg. 2021-08-13T13:57:43.493Z,1628863063.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:43.825Z,1628863063.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:43.825Z,1628863063.825 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:43.825Z,1628863063.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:43.826Z,1628863063.826 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:44.229Z,1628863064.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F97,000,01164,186,80,80,8B,FF 2021-08-13T13:57:44.229Z,1628863064.229 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:44.229Z,1628863064.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:44.231Z,1628863064.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:44.645Z,1628863064.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:45.485Z,1628863065.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,011A6,186,80,80,78,FF 2021-08-13T13:57:45.485Z,1628863065.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:45.488Z,1628863065.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135745.76*5E 2021-08-13T13:57:45.887Z,1628863065.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.579987 m, bearing: 57.581350 deg, deltaT: 4.833221 s, approachRate: 0.819328 m/s, LOS rate: -0.243860 deg/s, posRepo size: 4 2021-08-13T13:57:45.913Z,1628863065.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.579987 m, bearing: 57.581350 deg, approachRate: 0.819328 m/s, LOS rate: -0.243860 deg/s, cmd update: -0.731581 deg/s, cmd heading: 10.535722 deg, new cmd heading: 14.995642 deg. 2021-08-13T13:57:48.322Z,1628863068.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:48.677Z,1628863068.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:48.677Z,1628863068.677 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:48.678Z,1628863068.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:48.678Z,1628863068.678 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:49.086Z,1628863069.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E5B,000,011A6,186,80,80,78,FF 2021-08-13T13:57:49.086Z,1628863069.086 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:49.086Z,1628863069.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:49.087Z,1628863069.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:49.525Z,1628863069.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:50.313Z,1628863070.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44D,000,011E4,189,80,80,78,FF 2021-08-13T13:57:50.313Z,1628863070.313 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:50.316Z,1628863070.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135750.61*5C 2021-08-13T13:57:50.739Z,1628863070.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.299988 m, bearing: 324.371667 deg, deltaT: 4.853273 s, approachRate: 0.766493 m/s, LOS rate: -19.205534 deg/s, posRepo size: 4 2021-08-13T13:57:50.740Z,1628863070.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.205534 deg/s. Setting heading cmd to target bearing of 324.371667deg and heading rate command to 0 deg/s. 2021-08-13T13:57:53.135Z,1628863073.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:53.533Z,1628863073.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:53.533Z,1628863073.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:53.533Z,1628863073.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:53.534Z,1628863073.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:53.933Z,1628863073.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 44D,000,011E4,189,80,80,78,FF 2021-08-13T13:57:53.933Z,1628863073.933 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:53.933Z,1628863073.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:53.935Z,1628863073.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:54.333Z,1628863074.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:57:55.169Z,1628863075.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,0121D,188,80,80,A1,FF 2021-08-13T13:57:55.169Z,1628863075.169 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:57:55.172Z,1628863075.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135755.46*5C 2021-08-13T13:57:55.586Z,1628863075.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.719986 m, bearing: 328.317385 deg, deltaT: 4.832696 s, approachRate: 0.707679 m/s, LOS rate: 0.816463 deg/s, posRepo size: 4 2021-08-13T13:57:55.588Z,1628863075.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.719986 m, bearing: 328.317385 deg, approachRate: 0.707679 m/s, LOS rate: 0.816463 deg/s, cmd update: 2.449390 deg/s, cmd heading: 324.371667 deg, new cmd heading: 324.371667 deg. 2021-08-13T13:57:58.006Z,1628863078.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:57:58.369Z,1628863078.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:57:58.369Z,1628863078.369 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:57:58.369Z,1628863078.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:57:58.370Z,1628863078.370 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:57:58.777Z,1628863078.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 366,000,0121D,188,80,80,A1,FF 2021-08-13T13:57:58.777Z,1628863078.777 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:57:58.777Z,1628863078.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:57:58.779Z,1628863078.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:57:59.180Z,1628863079.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:00.045Z,1628863080.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135800.30*52 2021-08-13T13:58:00.837Z,1628863080.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:02.413Z,1628863082.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 D,188,80,80,A1,FF 2021-08-13T13:58:02.414Z,1628863082.414 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 D,188,80,80,A1,FF 2021-08-13T13:58:02.414Z,1628863082.414 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T13:58:03.673Z,1628863083.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:04.044Z,1628863084.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:04.045Z,1628863084.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:04.045Z,1628863084.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:04.047Z,1628863084.047 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:04.450Z,1628863084.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 D,188,80,80,A1,FF 2021-08-13T13:58:04.450Z,1628863084.450 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:04.451Z,1628863084.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:04.457Z,1628863084.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:04.840Z,1628863084.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:05.665Z,1628863085.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,403,000,01278,189,80,80,A9,FF 2021-08-13T13:58:05.665Z,1628863085.665 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:05.672Z,1628863085.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135805.98*55 2021-08-13T13:58:06.155Z,1628863086.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.179977 m, bearing: 291.796473 deg, deltaT: 10.502076 s, approachRate: 0.519896 m/s, LOS rate: -3.477495 deg/s, posRepo size: 4 2021-08-13T13:58:06.163Z,1628863086.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 246.179977 m, bearing: 291.796473 deg, approachRate: 0.519896 m/s, LOS rate: -3.477495 deg/s, cmd update: -10.432484 deg/s, cmd heading: 350.095685 deg, new cmd heading: 351.165683 deg. 2021-08-13T13:58:08.526Z,1628863088.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:08.877Z,1628863088.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:08.878Z,1628863088.878 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:08.878Z,1628863088.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:08.879Z,1628863088.879 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:09.285Z,1628863089.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 403,000,01278,189,80,80,A9,FF 2021-08-13T13:58:09.285Z,1628863089.285 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:09.286Z,1628863089.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:09.287Z,1628863089.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:09.692Z,1628863089.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:10.525Z,1628863090.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,012A1,189,80,80,BC,FF 2021-08-13T13:58:10.525Z,1628863090.525 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:10.553Z,1628863090.553 [Micromodem](INFO): Nmea in: $SNTTA,0.173605,,,,135810.81*41 2021-08-13T13:58:10.943Z,1628863090.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.639999 m, bearing: 320.440647 deg, deltaT: 4.864404 s, approachRate: 0.505719 m/s, LOS rate: 5.888527 deg/s, posRepo size: 4 2021-08-13T13:58:10.946Z,1628863090.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.639999 m, bearing: 320.440647 deg, approachRate: 0.505719 m/s, LOS rate: 5.888527 deg/s, cmd update: 12.000000 deg/s, cmd heading: 299.388618 deg, new cmd heading: 295.586760 deg. 2021-08-13T13:58:13.346Z,1628863093.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:13.726Z,1628863093.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:13.726Z,1628863093.726 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:13.726Z,1628863093.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:13.727Z,1628863093.727 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:14.125Z,1628863094.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 298,000,012A1,189,80,80,BC,FF 2021-08-13T13:58:14.125Z,1628863094.125 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:14.125Z,1628863094.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:14.127Z,1628863094.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:14.541Z,1628863094.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:15.354Z,1628863095.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,012C6,188,80,80,B7,FF 2021-08-13T13:58:15.354Z,1628863095.354 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:15.357Z,1628863095.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135815.65*56 2021-08-13T13:58:15.782Z,1628863095.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.859985 m, bearing: 310.530043 deg, deltaT: 4.840444 s, approachRate: 0.458633 m/s, LOS rate: -2.047458 deg/s, posRepo size: 4 2021-08-13T13:58:15.785Z,1628863095.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.859985 m, bearing: 310.530043 deg, approachRate: 0.458633 m/s, LOS rate: -2.047458 deg/s, cmd update: -6.142373 deg/s, cmd heading: 357.554947 deg, new cmd heading: 1.828831 deg. 2021-08-13T13:58:18.235Z,1628863098.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:18.565Z,1628863098.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:18.565Z,1628863098.565 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:18.565Z,1628863098.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:18.566Z,1628863098.566 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:18.981Z,1628863098.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 267,000,012C6,188,80,80,B7,FF 2021-08-13T13:58:18.981Z,1628863098.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:18.981Z,1628863098.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:18.983Z,1628863098.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:19.381Z,1628863099.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:20.199Z,1628863100.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,012E6,187,80,80,94,FF 2021-08-13T13:58:20.200Z,1628863100.200 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:20.203Z,1628863100.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135820.51*57 2021-08-13T13:58:20.686Z,1628863100.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.779984 m, bearing: 328.761238 deg, deltaT: 4.826738 s, approachRate: 0.397784 m/s, LOS rate: 3.777126 deg/s, posRepo size: 4 2021-08-13T13:58:20.692Z,1628863100.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.779984 m, bearing: 328.761238 deg, approachRate: 0.397784 m/s, LOS rate: 3.777126 deg/s, cmd update: 11.331378 deg/s, cmd heading: 327.874946 deg, new cmd heading: 325.249253 deg. 2021-08-13T13:58:23.049Z,1628863103.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:23.419Z,1628863103.419 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:23.420Z,1628863103.420 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:23.421Z,1628863103.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:23.422Z,1628863103.422 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:23.833Z,1628863103.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 07D,000,012E6,187,80,80,94,FF 2021-08-13T13:58:23.833Z,1628863103.833 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:23.833Z,1628863103.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:23.835Z,1628863103.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:24.240Z,1628863104.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:25.061Z,1628863105.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,01305,188,80,80,B1,FF 2021-08-13T13:58:25.061Z,1628863105.061 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:25.064Z,1628863105.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135825.36*53 2021-08-13T13:58:25.504Z,1628863105.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.639984 m, bearing: 306.028210 deg, deltaT: 4.865466 s, approachRate: 0.382286 m/s, LOS rate: -4.672323 deg/s, posRepo size: 4 2021-08-13T13:58:25.506Z,1628863105.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 254.639984 m, bearing: 306.028210 deg, approachRate: 0.382286 m/s, LOS rate: -4.672323 deg/s, cmd update: -12.000000 deg/s, cmd heading: 22.962303 deg, new cmd heading: 27.312090 deg. 2021-08-13T13:58:27.931Z,1628863107.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:28.273Z,1628863108.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:28.273Z,1628863108.273 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:28.273Z,1628863108.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:28.274Z,1628863108.274 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:28.691Z,1628863108.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 31E,000,01305,188,80,80,B1,FF 2021-08-13T13:58:28.692Z,1628863108.692 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:28.692Z,1628863108.692 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:28.694Z,1628863108.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:29.085Z,1628863109.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:29.902Z,1628863109.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,0132F,189,80,80,CB,FF 2021-08-13T13:58:29.902Z,1628863109.902 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:29.917Z,1628863109.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135830.22*52 2021-08-13T13:58:30.352Z,1628863110.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.159973 m, bearing: 325.946080 deg, deltaT: 4.833676 s, approachRate: 0.521340 m/s, LOS rate: 4.120646 deg/s, posRepo size: 4 2021-08-13T13:58:30.355Z,1628863110.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 257.159973 m, bearing: 325.946080 deg, approachRate: 0.521340 m/s, LOS rate: 4.120646 deg/s, cmd update: 12.000000 deg/s, cmd heading: 325.056913 deg, new cmd heading: 320.177521 deg. 2021-08-13T13:58:32.763Z,1628863112.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:33.117Z,1628863113.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:33.117Z,1628863113.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:33.117Z,1628863113.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:33.118Z,1628863113.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:33.526Z,1628863113.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 289,000,0132F,189,80,80,CB,FF 2021-08-13T13:58:33.527Z,1628863113.527 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:33.527Z,1628863113.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:33.530Z,1628863113.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:33.945Z,1628863113.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:34.753Z,1628863114.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,01362,188,80,80,B5,FF 2021-08-13T13:58:34.753Z,1628863114.753 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:34.756Z,1628863114.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135835.05*52 2021-08-13T13:58:35.186Z,1628863115.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.219971 m, bearing: 339.960344 deg, deltaT: 4.845093 s, approachRate: 0.631566 m/s, LOS rate: 2.892465 deg/s, posRepo size: 4 2021-08-13T13:58:35.188Z,1628863115.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.219971 m, bearing: 339.960344 deg, approachRate: 0.631566 m/s, LOS rate: 2.892465 deg/s, cmd update: 8.677396 deg/s, cmd heading: 23.344852 deg, new cmd heading: 27.943012 deg. 2021-08-13T13:58:37.633Z,1628863117.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:37.969Z,1628863117.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:37.969Z,1628863117.969 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:37.969Z,1628863117.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:37.970Z,1628863117.970 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:38.366Z,1628863118.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 22C,000,01362,188,80,80,B5,FF 2021-08-13T13:58:38.366Z,1628863118.366 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:38.366Z,1628863118.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:38.370Z,1628863118.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:38.780Z,1628863118.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:39.605Z,1628863119.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,01393,188,80,80,95,FF 2021-08-13T13:58:39.606Z,1628863119.606 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:39.609Z,1628863119.609 [Micromodem](INFO): Nmea in: $SNTTA,0.177760,,,,135839.89*44 2021-08-13T13:58:40.077Z,1628863120.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.160004 m, bearing: 323.493414 deg, deltaT: 4.863917 s, approachRate: 0.604458 m/s, LOS rate: -3.385529 deg/s, posRepo size: 4 2021-08-13T13:58:40.079Z,1628863120.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 263.160004 m, bearing: 323.493414 deg, approachRate: 0.604458 m/s, LOS rate: -3.385529 deg/s, cmd update: -10.156586 deg/s, cmd heading: 65.516666 deg, new cmd heading: 69.077938 deg. 2021-08-13T13:58:42.505Z,1628863122.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:42.814Z,1628863122.814 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:42.814Z,1628863122.814 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:42.814Z,1628863122.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:42.815Z,1628863122.815 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:43.213Z,1628863123.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2AD,000,01393,188,80,80,95,FF 2021-08-13T13:58:43.213Z,1628863123.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:43.213Z,1628863123.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:43.215Z,1628863123.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:43.620Z,1628863123.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:44.449Z,1628863124.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,013CA,186,80,80,B0,FF 2021-08-13T13:58:44.450Z,1628863124.450 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:44.460Z,1628863124.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135844.74*52 2021-08-13T13:58:44.870Z,1628863124.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.459991 m, bearing: 348.324703 deg, deltaT: 4.893890 s, approachRate: 0.674308 m/s, LOS rate: 5.073937 deg/s, posRepo size: 4 2021-08-13T13:58:44.875Z,1628863124.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 266.459991 m, bearing: 348.324703 deg, approachRate: 0.674308 m/s, LOS rate: 5.073937 deg/s, cmd update: 12.000000 deg/s, cmd heading: 15.812903 deg, new cmd heading: 12.644708 deg. 2021-08-13T13:58:47.285Z,1628863127.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:47.657Z,1628863127.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:47.657Z,1628863127.657 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:47.657Z,1628863127.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:47.658Z,1628863127.658 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:48.101Z,1628863128.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1EE,000,013CA,186,80,80,B0,FF 2021-08-13T13:58:48.101Z,1628863128.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:48.101Z,1628863128.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:48.102Z,1628863128.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:48.492Z,1628863128.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:49.287Z,1628863129.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0140A,186,80,80,76,FF 2021-08-13T13:58:49.288Z,1628863129.288 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:49.295Z,1628863129.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135849.63*59 2021-08-13T13:58:49.714Z,1628863129.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.299988 m, bearing: 52.806477 deg, deltaT: 4.783500 s, approachRate: 0.802759 m/s, LOS rate: 13.480043 deg/s, posRepo size: 4 2021-08-13T13:58:49.715Z,1628863129.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.480043 deg/s. Setting heading cmd to target bearing of 52.806477deg and heading rate command to 0 deg/s. 2021-08-13T13:58:52.166Z,1628863132.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:52.521Z,1628863132.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:52.521Z,1628863132.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:52.521Z,1628863132.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:52.522Z,1628863132.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:52.917Z,1628863132.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E1B,000,0140A,186,80,80,76,FF 2021-08-13T13:58:52.917Z,1628863132.917 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:52.918Z,1628863132.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:52.919Z,1628863132.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:53.316Z,1628863133.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:53.737Z,1628863133.737 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T13:58:54.145Z,1628863134.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,0144B,185,80,80,8A,FF 2021-08-13T13:58:54.145Z,1628863134.145 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:54.148Z,1628863134.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135854.44*50 2021-08-13T13:58:54.569Z,1628863134.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.199982 m, bearing: 48.528255 deg, deltaT: 4.883973 s, approachRate: 0.798529 m/s, LOS rate: -0.875972 deg/s, posRepo size: 4 2021-08-13T13:58:54.571Z,1628863134.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 274.199982 m, bearing: 48.528255 deg, approachRate: 0.798529 m/s, LOS rate: -0.875972 deg/s, cmd update: -2.627915 deg/s, cmd heading: 52.806477 deg, new cmd heading: 52.806477 deg. 2021-08-13T13:58:56.978Z,1628863136.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:58:57.356Z,1628863137.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:58:57.356Z,1628863137.356 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:58:57.356Z,1628863137.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:58:57.357Z,1628863137.357 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:58:57.761Z,1628863137.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD5,000,0144B,185,80,80,8A,FF 2021-08-13T13:58:57.761Z,1628863137.761 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:58:57.761Z,1628863137.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:58:57.763Z,1628863137.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:58:58.174Z,1628863138.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:58:59.005Z,1628863139.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,0148F,189,80,80,8C,FF 2021-08-13T13:58:59.005Z,1628863139.005 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:58:59.008Z,1628863139.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135859.29*56 2021-08-13T13:58:59.439Z,1628863139.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.279999 m, bearing: 31.670597 deg, deltaT: 4.799480 s, approachRate: 0.850096 m/s, LOS rate: -3.512393 deg/s, posRepo size: 4 2021-08-13T13:58:59.447Z,1628863139.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.279999 m, bearing: 31.670597 deg, approachRate: 0.850096 m/s, LOS rate: -3.512393 deg/s, cmd update: -10.537178 deg/s, cmd heading: 40.162374 deg, new cmd heading: 39.089270 deg. 2021-08-13T13:59:01.825Z,1628863141.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:02.197Z,1628863142.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:02.198Z,1628863142.198 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:02.198Z,1628863142.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:02.199Z,1628863142.199 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:02.605Z,1628863142.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 23B,000,0148F,189,80,80,8C,FF 2021-08-13T13:59:02.605Z,1628863142.605 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:02.605Z,1628863142.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:02.607Z,1628863142.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:03.012Z,1628863143.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:03.845Z,1628863143.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,014D3,186,80,80,A3,FF 2021-08-13T13:59:03.845Z,1628863143.845 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:03.848Z,1628863143.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135904.13*56 2021-08-13T13:59:04.304Z,1628863144.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.359985 m, bearing: 58.522625 deg, deltaT: 4.893453 s, approachRate: 0.833764 m/s, LOS rate: 5.487338 deg/s, posRepo size: 4 2021-08-13T13:59:04.306Z,1628863144.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 282.359985 m, bearing: 58.522625 deg, approachRate: 0.833764 m/s, LOS rate: 5.487338 deg/s, cmd update: 12.000000 deg/s, cmd heading: 348.602183 deg, new cmd heading: 344.606127 deg. 2021-08-13T13:59:06.681Z,1628863146.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:07.049Z,1628863147.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:07.049Z,1628863147.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:07.049Z,1628863147.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:07.050Z,1628863147.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:07.469Z,1628863147.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F30,000,014D3,186,80,80,A3,FF 2021-08-13T13:59:07.469Z,1628863147.469 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:07.470Z,1628863147.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:07.499Z,1628863147.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:07.860Z,1628863147.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:08.667Z,1628863148.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,312,000,0151A,189,80,80,65,FF 2021-08-13T13:59:08.668Z,1628863148.668 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:08.675Z,1628863148.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135909.02*5B 2021-08-13T13:59:09.100Z,1628863149.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.619995 m, bearing: 352.202803 deg, deltaT: 4.831476 s, approachRate: 0.881720 m/s, LOS rate: -13.726616 deg/s, posRepo size: 4 2021-08-13T13:59:09.101Z,1628863149.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.726616 deg/s. Setting heading cmd to target bearing of 352.202803deg and heading rate command to 0 deg/s. 2021-08-13T13:59:11.573Z,1628863151.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:11.894Z,1628863151.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:11.894Z,1628863151.894 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:11.894Z,1628863151.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:11.895Z,1628863151.895 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:12.310Z,1628863152.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 312,000,0151A,189,80,80,65,FF 2021-08-13T13:59:12.310Z,1628863152.310 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:12.310Z,1628863152.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:12.311Z,1628863152.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:12.705Z,1628863152.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:13.541Z,1628863153.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,01559,186,80,80,7C,FF 2021-08-13T13:59:13.541Z,1628863153.541 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:13.544Z,1628863153.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135913.84*5E 2021-08-13T13:59:13.968Z,1628863153.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.399994 m, bearing: 357.750556 deg, deltaT: 4.817892 s, approachRate: 0.784575 m/s, LOS rate: 1.151490 deg/s, posRepo size: 4 2021-08-13T13:59:13.970Z,1628863153.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 290.399994 m, bearing: 357.750556 deg, approachRate: 0.784575 m/s, LOS rate: 1.151490 deg/s, cmd update: 3.454469 deg/s, cmd heading: 352.202803 deg, new cmd heading: 352.202803 deg. 2021-08-13T13:59:16.383Z,1628863156.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:16.745Z,1628863156.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:16.745Z,1628863156.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:16.745Z,1628863156.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:16.746Z,1628863156.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:17.157Z,1628863157.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F2,000,01559,186,80,80,7C,FF 2021-08-13T13:59:17.157Z,1628863157.157 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:17.157Z,1628863157.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:17.159Z,1628863157.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:17.572Z,1628863157.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:18.381Z,1628863158.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,0159C,189,80,80,2B,FF 2021-08-13T13:59:18.381Z,1628863158.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:18.384Z,1628863158.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135918.68*57 2021-08-13T13:59:18.804Z,1628863158.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.419983 m, bearing: 340.387996 deg, deltaT: 4.932036 s, approachRate: 0.815077 m/s, LOS rate: -3.520363 deg/s, posRepo size: 4 2021-08-13T13:59:18.806Z,1628863158.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 294.419983 m, bearing: 340.387996 deg, approachRate: 0.815077 m/s, LOS rate: -3.520363 deg/s, cmd update: -10.561090 deg/s, cmd heading: 9.225807 deg, new cmd heading: 10.282816 deg. 2021-08-13T13:59:21.207Z,1628863161.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:21.601Z,1628863161.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:21.601Z,1628863161.601 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:21.602Z,1628863161.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:21.602Z,1628863161.602 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:22.001Z,1628863162.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 30C,000,0159C,189,80,80,2B,FF 2021-08-13T13:59:22.001Z,1628863162.001 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:22.002Z,1628863162.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:22.028Z,1628863162.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:22.412Z,1628863162.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:23.211Z,1628863163.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,015D5,189,80,80,AE,FF 2021-08-13T13:59:23.212Z,1628863163.212 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:23.219Z,1628863163.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135923.56*52 2021-08-13T13:59:23.650Z,1628863163.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.839996 m, bearing: 332.968607 deg, deltaT: 4.764421 s, approachRate: 0.717824 m/s, LOS rate: -1.557249 deg/s, posRepo size: 4 2021-08-13T13:59:23.668Z,1628863163.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 297.839996 m, bearing: 332.968607 deg, approachRate: 0.717824 m/s, LOS rate: -1.557249 deg/s, cmd update: -4.671746 deg/s, cmd heading: 318.906035 deg, new cmd heading: 314.814161 deg. 2021-08-13T13:59:26.134Z,1628863166.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:26.453Z,1628863166.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:26.454Z,1628863166.454 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:26.454Z,1628863166.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:26.456Z,1628863166.456 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:26.845Z,1628863166.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 30F,000,015D5,189,80,80,AE,FF 2021-08-13T13:59:26.845Z,1628863166.845 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:26.845Z,1628863166.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:26.847Z,1628863166.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:27.260Z,1628863167.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:28.093Z,1628863168.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27D,000,0160B,189,80,80,9A,FF 2021-08-13T13:59:28.094Z,1628863168.094 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:28.097Z,1628863168.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135928.37*5E 2021-08-13T13:59:28.527Z,1628863168.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.079987 m, bearing: 325.384338 deg, deltaT: 4.913598 s, approachRate: 0.659393 m/s, LOS rate: -1.543527 deg/s, posRepo size: 4 2021-08-13T13:59:28.530Z,1628863168.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 301.079987 m, bearing: 325.384338 deg, approachRate: 0.659393 m/s, LOS rate: -1.543527 deg/s, cmd update: -4.630580 deg/s, cmd heading: 295.950990 deg, new cmd heading: 294.309997 deg. 2021-08-13T13:59:30.927Z,1628863170.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:31.289Z,1628863171.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:31.289Z,1628863171.289 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:31.289Z,1628863171.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:31.290Z,1628863171.290 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:31.714Z,1628863171.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 27D,000,0160B,189,80,80,9A,FF 2021-08-13T13:59:31.714Z,1628863171.714 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:31.715Z,1628863171.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:31.716Z,1628863171.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:32.124Z,1628863172.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:32.929Z,1628863172.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,01635,187,80,80,AF,FF 2021-08-13T13:59:32.930Z,1628863172.930 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:32.957Z,1628863172.957 [Micromodem](INFO): Nmea in: $SNTTA,0.204748,,,,135933.24*45 2021-08-13T13:59:33.365Z,1628863173.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.600006 m, bearing: 313.508579 deg, deltaT: 4.816865 s, approachRate: 0.523166 m/s, LOS rate: -2.465454 deg/s, posRepo size: 4 2021-08-13T13:59:33.367Z,1628863173.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 303.600006 m, bearing: 313.508579 deg, approachRate: 0.523166 m/s, LOS rate: -2.465454 deg/s, cmd update: -7.396362 deg/s, cmd heading: 273.665894 deg, new cmd heading: 271.923217 deg. 2021-08-13T13:59:35.820Z,1628863175.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:36.149Z,1628863176.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:36.149Z,1628863176.149 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:36.149Z,1628863176.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:36.150Z,1628863176.150 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:36.549Z,1628863176.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 203,000,01635,187,80,80,AF,FF 2021-08-13T13:59:36.549Z,1628863176.549 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:36.550Z,1628863176.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:36.551Z,1628863176.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:36.973Z,1628863176.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:37.785Z,1628863177.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0164F,189,80,80,A2,FF 2021-08-13T13:59:37.785Z,1628863177.785 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:37.788Z,1628863177.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135938.07*5C 2021-08-13T13:59:38.235Z,1628863178.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.160004 m, bearing: 255.288101 deg, deltaT: 4.858277 s, approachRate: 0.321101 m/s, LOS rate: -11.983771 deg/s, posRepo size: 4 2021-08-13T13:59:38.240Z,1628863178.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.983771 deg/s. Setting heading cmd to target bearing of 255.288101deg and heading rate command to 0 deg/s. 2021-08-13T13:59:40.613Z,1628863180.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:41.001Z,1628863181.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:41.001Z,1628863181.001 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:41.001Z,1628863181.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:41.002Z,1628863181.002 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:41.397Z,1628863181.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0164F,189,80,80,A2,FF 2021-08-13T13:59:41.397Z,1628863181.397 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:41.397Z,1628863181.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:41.399Z,1628863181.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:41.840Z,1628863181.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:42.645Z,1628863182.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0165A,188,80,80,B4,FF 2021-08-13T13:59:42.645Z,1628863182.645 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:42.649Z,1628863182.649 [Micromodem](INFO): Nmea in: $SNTTA,0.205946,,,,135942.92*4F 2021-08-13T13:59:43.068Z,1628863183.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.820007 m, bearing: 236.927378 deg, deltaT: 4.863919 s, approachRate: 0.135694 m/s, LOS rate: -3.774882 deg/s, posRepo size: 4 2021-08-13T13:59:43.070Z,1628863183.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 305.820007 m, bearing: 236.927378 deg, approachRate: 0.135694 m/s, LOS rate: -3.774882 deg/s, cmd update: -11.324647 deg/s, cmd heading: 255.288101 deg, new cmd heading: 255.288101 deg. 2021-08-13T13:59:45.510Z,1628863185.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:45.866Z,1628863185.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:45.866Z,1628863185.866 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:45.866Z,1628863185.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:45.867Z,1628863185.867 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:46.277Z,1628863186.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0165A,188,80,80,B4,FF 2021-08-13T13:59:46.278Z,1628863186.278 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:46.278Z,1628863186.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:46.288Z,1628863186.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:46.677Z,1628863186.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:47.525Z,1628863187.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01654,189,80,80,B3,FF 2021-08-13T13:59:47.525Z,1628863187.525 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:47.528Z,1628863187.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135947.81*5A 2021-08-13T13:59:47.928Z,1628863187.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.459991 m, bearing: 217.728221 deg, deltaT: 4.870937 s, approachRate: -0.073911 m/s, LOS rate: -3.941574 deg/s, posRepo size: 4 2021-08-13T13:59:47.930Z,1628863187.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 305.459991 m, bearing: 217.728221 deg, approachRate: -0.073911 m/s, LOS rate: -3.941574 deg/s, cmd update: -11.824721 deg/s, cmd heading: 200.125914 deg, new cmd heading: 196.213531 deg. 2021-08-13T13:59:50.346Z,1628863190.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:50.743Z,1628863190.743 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:50.743Z,1628863190.743 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:50.746Z,1628863190.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:50.752Z,1628863190.752 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:51.121Z,1628863191.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,01654,189,80,80,B3,FF 2021-08-13T13:59:51.121Z,1628863191.121 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:51.121Z,1628863191.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:51.123Z,1628863191.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:51.545Z,1628863191.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:52.355Z,1628863192.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,368,000,0163E,18A,80,80,A5,FF 2021-08-13T13:59:52.355Z,1628863192.355 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:52.359Z,1628863192.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135952.65*54 2021-08-13T13:59:52.774Z,1628863192.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.139984 m, bearing: 218.921046 deg, deltaT: 4.897086 s, approachRate: -0.269550 m/s, LOS rate: 0.243578 deg/s, posRepo size: 4 2021-08-13T13:59:52.775Z,1628863192.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 304.139984 m, bearing: 218.921046 deg, approachRate: -0.269550 m/s, LOS rate: 0.243578 deg/s, cmd update: 0.730735 deg/s, cmd heading: 142.235948 deg, new cmd heading: 138.739591 deg. 2021-08-13T13:59:55.178Z,1628863195.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T13:59:55.557Z,1628863195.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T13:59:55.557Z,1628863195.557 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T13:59:55.558Z,1628863195.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T13:59:55.559Z,1628863195.559 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T13:59:55.961Z,1628863195.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 368,000,0163E,18A,80,80,A5,FF 2021-08-13T13:59:55.961Z,1628863195.961 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T13:59:55.961Z,1628863195.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T13:59:55.963Z,1628863195.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T13:59:56.371Z,1628863196.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T13:59:57.197Z,1628863197.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,01624,189,80,80,91,FF 2021-08-13T13:59:57.198Z,1628863197.198 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T13:59:57.202Z,1628863197.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135957.49*5F 2021-08-13T13:59:57.622Z,1628863197.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.579987 m, bearing: 214.150910 deg, deltaT: 4.771261 s, approachRate: -0.326957 m/s, LOS rate: -0.999764 deg/s, posRepo size: 4 2021-08-13T13:59:57.624Z,1628863197.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 302.579987 m, bearing: 214.150910 deg, approachRate: -0.326957 m/s, LOS rate: -0.999764 deg/s, cmd update: -2.999292 deg/s, cmd heading: 145.726365 deg, new cmd heading: 145.995092 deg. 2021-08-13T14:00:00.082Z,1628863200.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:00.405Z,1628863200.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:00.405Z,1628863200.405 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:00.405Z,1628863200.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:00.406Z,1628863200.406 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:00.809Z,1628863200.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 23B,000,01624,189,80,80,91,FF 2021-08-13T14:00:00.809Z,1628863200.809 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:00.809Z,1628863200.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:00.811Z,1628863200.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:01.231Z,1628863201.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:02.077Z,1628863202.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,01602,186,80,80,A6,FF 2021-08-13T14:00:02.078Z,1628863202.078 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:02.081Z,1628863202.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140002.33*59 2021-08-13T14:00:02.488Z,1628863202.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.540009 m, bearing: 218.559032 deg, deltaT: 4.908170 s, approachRate: -0.415629 m/s, LOS rate: 0.898119 deg/s, posRepo size: 4 2021-08-13T14:00:02.490Z,1628863202.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 300.540009 m, bearing: 218.559032 deg, approachRate: -0.415629 m/s, LOS rate: 0.898119 deg/s, cmd update: 2.694358 deg/s, cmd heading: 131.041212 deg, new cmd heading: 130.030021 deg. 2021-08-13T14:00:04.889Z,1628863204.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:05.253Z,1628863205.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:05.253Z,1628863205.253 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:05.253Z,1628863205.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:05.254Z,1628863205.254 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:05.666Z,1628863205.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 062,000,01602,186,80,80,A6,FF 2021-08-13T14:00:05.666Z,1628863205.666 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:05.666Z,1628863205.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:05.672Z,1628863205.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:06.104Z,1628863206.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:06.894Z,1628863206.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,015DB,186,80,80,9E,FF 2021-08-13T14:00:06.894Z,1628863206.894 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:06.899Z,1628863206.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140007.20*5E 2021-08-13T14:00:07.320Z,1628863207.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.199982 m, bearing: 218.821817 deg, deltaT: 4.795866 s, approachRate: -0.487926 m/s, LOS rate: 0.054794 deg/s, posRepo size: 4 2021-08-13T14:00:07.322Z,1628863207.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 298.199982 m, bearing: 218.821817 deg, approachRate: -0.487926 m/s, LOS rate: 0.054794 deg/s, cmd update: 0.164382 deg/s, cmd heading: 143.977837 deg, new cmd heading: 144.969183 deg. 2021-08-13T14:00:09.730Z,1628863209.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:10.113Z,1628863210.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:10.113Z,1628863210.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:10.113Z,1628863210.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:10.114Z,1628863210.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:10.518Z,1628863210.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EF5,000,015DB,186,80,80,9E,FF 2021-08-13T14:00:10.518Z,1628863210.518 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:10.518Z,1628863210.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:10.540Z,1628863210.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:10.924Z,1628863210.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:11.732Z,1628863211.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D28,000,015B7,189,80,80,A6,FF 2021-08-13T14:00:11.733Z,1628863211.733 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:11.742Z,1628863211.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140012.06*5E 2021-08-13T14:00:12.176Z,1628863212.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.039978 m, bearing: 218.824877 deg, deltaT: 4.849619 s, approachRate: -0.445397 m/s, LOS rate: 0.000631 deg/s, posRepo size: 4 2021-08-13T14:00:12.178Z,1628863212.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 296.039978 m, bearing: 218.824877 deg, approachRate: -0.445397 m/s, LOS rate: 0.000631 deg/s, cmd update: 0.001893 deg/s, cmd heading: 144.775833 deg, new cmd heading: 144.836528 deg. 2021-08-13T14:00:14.581Z,1628863214.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:14.953Z,1628863214.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:14.953Z,1628863214.953 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:14.953Z,1628863214.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:14.954Z,1628863214.954 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:15.354Z,1628863215.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D28,000,015B7,189,80,80,A6,FF 2021-08-13T14:00:15.354Z,1628863215.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:15.354Z,1628863215.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:15.356Z,1628863215.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:15.769Z,1628863215.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:16.589Z,1628863216.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,0159E,187,80,80,96,FF 2021-08-13T14:00:16.589Z,1628863216.589 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:16.593Z,1628863216.593 [Micromodem](INFO): Nmea in: $SNTTA,0.198440,,,,140016.88*42 2021-08-13T14:00:17.008Z,1628863217.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.539978 m, bearing: 156.833602 deg, deltaT: 4.834838 s, approachRate: -0.310248 m/s, LOS rate: -12.821789 deg/s, posRepo size: 4 2021-08-13T14:00:17.009Z,1628863217.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.821789 deg/s. Setting heading cmd to target bearing of 156.833602deg and heading rate command to 0 deg/s. 2021-08-13T14:00:19.476Z,1628863219.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:19.805Z,1628863219.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:19.805Z,1628863219.805 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:19.805Z,1628863219.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:19.806Z,1628863219.806 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:20.201Z,1628863220.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 096,000,0159E,187,80,80,96,FF 2021-08-13T14:00:20.201Z,1628863220.201 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:20.201Z,1628863220.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:20.203Z,1628863220.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:20.616Z,1628863220.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:21.465Z,1628863221.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01592,189,80,80,AA,FF 2021-08-13T14:00:21.466Z,1628863221.466 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:21.474Z,1628863221.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140021.73*5C 2021-08-13T14:00:21.860Z,1628863221.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.820007 m, bearing: 217.588448 deg, deltaT: 4.914538 s, approachRate: -0.146498 m/s, LOS rate: 12.362270 deg/s, posRepo size: 4 2021-08-13T14:00:21.861Z,1628863221.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.362270 deg/s. Setting heading cmd to target bearing of 217.588448deg and heading rate command to 0 deg/s. 2021-08-13T14:00:24.291Z,1628863224.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:24.653Z,1628863224.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:24.653Z,1628863224.653 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:24.653Z,1628863224.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:24.654Z,1628863224.654 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:25.057Z,1628863225.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P AFD,000,01592,189,80,80,AA,FF 2021-08-13T14:00:25.057Z,1628863225.057 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:25.057Z,1628863225.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:25.059Z,1628863225.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:25.496Z,1628863225.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:26.277Z,1628863226.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BDD,000,01586,189,80,80,AC,FF 2021-08-13T14:00:26.277Z,1628863226.277 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:26.281Z,1628863226.281 [Micromodem](INFO): Nmea in: $SNTTA,0.197910,0.422397,,,140026.58*5C 2021-08-13T14:00:26.722Z,1628863226.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.100006 m, bearing: 219.870100 deg, deltaT: 4.788567 s, approachRate: -0.150358 m/s, LOS rate: 0.476479 deg/s, posRepo size: 4 2021-08-13T14:00:26.724Z,1628863226.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 293.100006 m, bearing: 219.870100 deg, approachRate: -0.150358 m/s, LOS rate: 0.476479 deg/s, cmd update: 1.429437 deg/s, cmd heading: 217.588448 deg, new cmd heading: 217.588448 deg. 2021-08-13T14:00:29.115Z,1628863229.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:29.525Z,1628863229.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:29.525Z,1628863229.525 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:29.525Z,1628863229.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:29.526Z,1628863229.526 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:29.913Z,1628863229.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BDD,000,01586,189,80,80,AC,FF 2021-08-13T14:00:29.913Z,1628863229.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:29.913Z,1628863229.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:29.915Z,1628863229.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:30.312Z,1628863230.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:31.141Z,1628863231.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,01570,186,80,80,91,FF 2021-08-13T14:00:31.141Z,1628863231.141 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:31.145Z,1628863231.145 [Micromodem](INFO): Nmea in: $SNTTA,0.194216,,,,140031.44*4E 2021-08-13T14:00:31.560Z,1628863231.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.779999 m, bearing: 169.612763 deg, deltaT: 4.830027 s, approachRate: -0.273292 m/s, LOS rate: -10.405188 deg/s, posRepo size: 4 2021-08-13T14:00:31.562Z,1628863231.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 291.779999 m, bearing: 169.612763 deg, approachRate: -0.273292 m/s, LOS rate: -10.405188 deg/s, cmd update: -12.000000 deg/s, cmd heading: 224.470318 deg, new cmd heading: 225.041742 deg. 2021-08-13T14:00:33.972Z,1628863233.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:34.353Z,1628863234.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:34.354Z,1628863234.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:34.354Z,1628863234.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:34.355Z,1628863234.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:34.761Z,1628863234.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 199,000,01570,186,80,80,91,FF 2021-08-13T14:00:34.761Z,1628863234.761 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:34.761Z,1628863234.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:34.763Z,1628863234.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:35.160Z,1628863235.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:35.989Z,1628863235.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,0154C,187,80,80,AD,FF 2021-08-13T14:00:35.989Z,1628863235.989 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:35.996Z,1628863235.996 [Micromodem](INFO): Nmea in: $SNTTA,0.195694,,,,140036.29*4D 2021-08-13T14:00:36.503Z,1628863236.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.619995 m, bearing: 225.549676 deg, deltaT: 4.908123 s, approachRate: -0.440088 m/s, LOS rate: 11.396803 deg/s, posRepo size: 4 2021-08-13T14:00:36.509Z,1628863236.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 289.619995 m, bearing: 225.549676 deg, approachRate: -0.440088 m/s, LOS rate: 11.396803 deg/s, cmd update: 12.000000 deg/s, cmd heading: 165.429415 deg, new cmd heading: 160.431799 deg. 2021-08-13T14:00:38.825Z,1628863238.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:39.197Z,1628863239.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:39.197Z,1628863239.197 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:39.197Z,1628863239.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:39.198Z,1628863239.198 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:39.605Z,1628863239.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDA,000,0154C,187,80,80,AD,FF 2021-08-13T14:00:39.605Z,1628863239.605 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:39.605Z,1628863239.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:39.607Z,1628863239.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:40.050Z,1628863240.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:40.841Z,1628863240.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,01528,186,80,80,A8,FF 2021-08-13T14:00:40.841Z,1628863240.841 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:41.264Z,1628863241.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.459991 m, bearing: 222.997344 deg, deltaT: 4.821248 s, approachRate: -0.448018 m/s, LOS rate: -0.529392 deg/s, posRepo size: 4 2021-08-13T14:00:41.266Z,1628863241.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 287.459991 m, bearing: 222.997344 deg, approachRate: -0.448018 m/s, LOS rate: -0.529392 deg/s, cmd update: -1.588177 deg/s, cmd heading: 223.276341 deg, new cmd heading: 227.630133 deg. 2021-08-13T14:00:43.670Z,1628863243.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:44.101Z,1628863244.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:44.101Z,1628863244.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:44.101Z,1628863244.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:44.102Z,1628863244.102 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:44.483Z,1628863244.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE9,000,01528,186,80,80,A8,FF 2021-08-13T14:00:44.483Z,1628863244.483 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:44.483Z,1628863244.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:44.485Z,1628863244.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:44.864Z,1628863244.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:45.668Z,1628863245.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,01502,189,80,80,A2,FF 2021-08-13T14:00:45.669Z,1628863245.669 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:45.692Z,1628863245.692 [Micromodem](INFO): Nmea in: $SNTTA,0.192683,,,,140046.01*41 2021-08-13T14:00:46.149Z,1628863246.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.179993 m, bearing: 228.259308 deg, deltaT: 4.845963 s, approachRate: -0.470494 m/s, LOS rate: 1.085845 deg/s, posRepo size: 4 2021-08-13T14:00:46.151Z,1628863246.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 285.179993 m, bearing: 228.259308 deg, approachRate: -0.470494 m/s, LOS rate: 1.085845 deg/s, cmd update: 3.257535 deg/s, cmd heading: 215.572530 deg, new cmd heading: 214.942007 deg. 2021-08-13T14:00:48.553Z,1628863248.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:48.894Z,1628863248.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:48.894Z,1628863248.894 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:48.894Z,1628863248.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:48.895Z,1628863248.895 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:49.297Z,1628863249.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB9,000,01502,189,80,80,A2,FF 2021-08-13T14:00:49.297Z,1628863249.297 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:49.297Z,1628863249.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:49.299Z,1628863249.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:49.717Z,1628863249.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:50.553Z,1628863250.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,014DE,186,80,80,AA,FF 2021-08-13T14:00:50.553Z,1628863250.553 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:50.556Z,1628863250.556 [Micromodem](INFO): Nmea in: $SNTTA,0.191222,,,,140050.82*41 2021-08-13T14:00:50.952Z,1628863250.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.019989 m, bearing: 225.716223 deg, deltaT: 4.827305 s, approachRate: -0.447455 m/s, LOS rate: -0.526812 deg/s, posRepo size: 4 2021-08-13T14:00:50.954Z,1628863250.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 283.019989 m, bearing: 225.716223 deg, approachRate: -0.447455 m/s, LOS rate: -0.526812 deg/s, cmd update: -1.580437 deg/s, cmd heading: 231.310661 deg, new cmd heading: 232.512721 deg. 2021-08-13T14:00:53.359Z,1628863253.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:53.741Z,1628863253.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:53.741Z,1628863253.741 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:53.741Z,1628863253.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:53.742Z,1628863253.742 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:54.153Z,1628863254.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6C,000,014DE,186,80,80,AA,FF 2021-08-13T14:00:54.153Z,1628863254.153 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:54.153Z,1628863254.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:54.155Z,1628863254.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:54.556Z,1628863254.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:00:55.381Z,1628863255.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,014B4,186,80,80,A9,FF 2021-08-13T14:00:55.381Z,1628863255.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:00:55.384Z,1628863255.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140055.68*55 2021-08-13T14:00:55.827Z,1628863255.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.500000 m, bearing: 222.278794 deg, deltaT: 4.841866 s, approachRate: -0.520458 m/s, LOS rate: -0.709939 deg/s, posRepo size: 4 2021-08-13T14:00:55.829Z,1628863255.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 280.500000 m, bearing: 222.278794 deg, approachRate: -0.520458 m/s, LOS rate: -0.709939 deg/s, cmd update: -2.129817 deg/s, cmd heading: 223.696790 deg, new cmd heading: 223.022358 deg. 2021-08-13T14:00:58.232Z,1628863258.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:00:58.582Z,1628863258.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:00:58.582Z,1628863258.582 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:00:58.583Z,1628863258.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:00:58.584Z,1628863258.584 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:00:58.993Z,1628863258.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 105,000,014B4,186,80,80,A9,FF 2021-08-13T14:00:58.993Z,1628863258.993 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:00:58.993Z,1628863258.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:00:58.995Z,1628863258.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:00:59.401Z,1628863259.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:00.213Z,1628863260.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,0148F,186,80,80,AE,FF 2021-08-13T14:01:00.213Z,1628863260.213 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:00.217Z,1628863260.217 [Micromodem](INFO): Nmea in: $SNTTA,0.414415,0.414603,,,140100.52*58 2021-08-13T14:01:00.663Z,1628863260.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.279999 m, bearing: 223.643534 deg, deltaT: 4.860523 s, approachRate: -0.456741 m/s, LOS rate: 0.280781 deg/s, posRepo size: 4 2021-08-13T14:01:00.665Z,1628863260.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.279999 m, bearing: 223.643534 deg, approachRate: -0.456741 m/s, LOS rate: 0.280781 deg/s, cmd update: 0.842342 deg/s, cmd heading: 213.361721 deg, new cmd heading: 212.489190 deg. 2021-08-13T14:01:03.066Z,1628863263.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:03.441Z,1628863263.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:03.441Z,1628863263.441 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:03.442Z,1628863263.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:03.443Z,1628863263.443 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:03.841Z,1628863263.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 084,000,0148F,186,80,80,AE,FF 2021-08-13T14:01:03.841Z,1628863263.841 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:03.842Z,1628863263.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:03.843Z,1628863263.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:04.256Z,1628863264.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:05.084Z,1628863265.084 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,01467,185,80,80,B3,FF 2021-08-13T14:01:05.085Z,1628863265.085 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:05.088Z,1628863265.088 [Micromodem](INFO): Nmea in: $SNTTA,0.183647,,,,140105.37*4A 2021-08-13T14:01:05.589Z,1628863265.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.880005 m, bearing: 223.932301 deg, deltaT: 4.818282 s, approachRate: -0.498102 m/s, LOS rate: 0.059931 deg/s, posRepo size: 4 2021-08-13T14:01:05.591Z,1628863265.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 275.880005 m, bearing: 223.932301 deg, approachRate: -0.498102 m/s, LOS rate: 0.059931 deg/s, cmd update: 0.179794 deg/s, cmd heading: 217.447551 deg, new cmd heading: 217.856592 deg. 2021-08-13T14:01:07.930Z,1628863267.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:08.293Z,1628863268.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:08.293Z,1628863268.293 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:08.293Z,1628863268.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:08.294Z,1628863268.294 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:08.697Z,1628863268.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAF,000,01467,185,80,80,B3,FF 2021-08-13T14:01:08.697Z,1628863268.697 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:08.697Z,1628863268.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:08.699Z,1628863268.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:09.109Z,1628863269.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:09.921Z,1628863269.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0143C,182,80,80,B4,FF 2021-08-13T14:01:09.921Z,1628863269.921 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:09.925Z,1628863269.925 [Micromodem](INFO): Nmea in: $SNTTA,0.184726,,,,140110.22*4B 2021-08-13T14:01:10.388Z,1628863270.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.299988 m, bearing: 223.023121 deg, deltaT: 4.836897 s, approachRate: -0.533403 m/s, LOS rate: -0.187968 deg/s, posRepo size: 4 2021-08-13T14:01:10.397Z,1628863270.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 273.299988 m, bearing: 223.023121 deg, approachRate: -0.533403 m/s, LOS rate: -0.187968 deg/s, cmd update: -0.563903 deg/s, cmd heading: 218.317202 deg, new cmd heading: 218.394827 deg. 2021-08-13T14:01:12.770Z,1628863272.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:13.133Z,1628863273.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:13.133Z,1628863273.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:13.133Z,1628863273.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:13.134Z,1628863273.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:13.549Z,1628863273.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFE,000,0143C,182,80,80,B4,FF 2021-08-13T14:01:13.550Z,1628863273.550 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:13.550Z,1628863273.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:13.553Z,1628863273.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:13.957Z,1628863273.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:14.769Z,1628863274.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,01414,183,80,80,B5,FF 2021-08-13T14:01:14.770Z,1628863274.770 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:14.772Z,1628863274.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140115.08*56 2021-08-13T14:01:15.216Z,1628863275.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.899994 m, bearing: 222.971129 deg, deltaT: 4.895577 s, approachRate: -0.490237 m/s, LOS rate: -0.010620 deg/s, posRepo size: 4 2021-08-13T14:01:15.218Z,1628863275.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 270.899994 m, bearing: 222.971129 deg, approachRate: -0.490237 m/s, LOS rate: -0.010620 deg/s, cmd update: -0.031860 deg/s, cmd heading: 215.558852 deg, new cmd heading: 215.351160 deg. 2021-08-13T14:01:17.634Z,1628863277.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:17.989Z,1628863277.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:17.989Z,1628863277.989 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:17.989Z,1628863277.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:17.990Z,1628863277.990 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:18.394Z,1628863278.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,01414,183,80,80,B5,FF 2021-08-13T14:01:18.394Z,1628863278.394 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:18.394Z,1628863278.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:18.397Z,1628863278.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:18.806Z,1628863278.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:19.613Z,1628863279.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,013EB,184,80,80,A9,FF 2021-08-13T14:01:19.613Z,1628863279.613 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:19.616Z,1628863279.616 [Micromodem](INFO): Nmea in: $SNTTA,0.181478,,,,140119.92*44 2021-08-13T14:01:20.081Z,1628863280.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.440002 m, bearing: 224.117836 deg, deltaT: 4.851936 s, approachRate: -0.507012 m/s, LOS rate: 0.236340 deg/s, posRepo size: 4 2021-08-13T14:01:20.083Z,1628863280.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 268.440002 m, bearing: 224.117836 deg, approachRate: -0.507012 m/s, LOS rate: 0.236340 deg/s, cmd update: 0.709020 deg/s, cmd heading: 215.404268 deg, new cmd heading: 215.391740 deg. 2021-08-13T14:01:22.497Z,1628863282.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:22.829Z,1628863282.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:22.829Z,1628863282.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:22.829Z,1628863282.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:22.830Z,1628863282.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:23.235Z,1628863283.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD3,000,013EB,184,80,80,A9,FF 2021-08-13T14:01:23.235Z,1628863283.235 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:23.236Z,1628863283.236 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:23.239Z,1628863283.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:23.640Z,1628863283.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:24.483Z,1628863284.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,013C0,185,80,80,AE,FF 2021-08-13T14:01:24.483Z,1628863284.483 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:24.486Z,1628863284.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140124.76*5D 2021-08-13T14:01:24.911Z,1628863284.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.859985 m, bearing: 225.368143 deg, deltaT: 4.824048 s, approachRate: -0.534824 m/s, LOS rate: 0.259182 deg/s, posRepo size: 4 2021-08-13T14:01:24.914Z,1628863284.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.859985 m, bearing: 225.368143 deg, approachRate: -0.534824 m/s, LOS rate: 0.259182 deg/s, cmd update: 0.777546 deg/s, cmd heading: 218.827472 deg, new cmd heading: 219.109784 deg. 2021-08-13T14:01:27.304Z,1628863287.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:27.673Z,1628863287.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:27.673Z,1628863287.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:27.673Z,1628863287.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:27.674Z,1628863287.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:28.101Z,1628863288.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC5,000,013C0,185,80,80,AE,FF 2021-08-13T14:01:28.101Z,1628863288.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:28.101Z,1628863288.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:28.103Z,1628863288.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:28.543Z,1628863288.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:29.354Z,1628863289.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,01397,182,80,80,AE,FF 2021-08-13T14:01:29.354Z,1628863289.354 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:29.357Z,1628863289.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140129.63*54 2021-08-13T14:01:29.805Z,1628863289.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.399994 m, bearing: 224.861753 deg, deltaT: 4.897112 s, approachRate: -0.502335 m/s, LOS rate: -0.103406 deg/s, posRepo size: 4 2021-08-13T14:01:29.807Z,1628863289.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 263.399994 m, bearing: 224.861753 deg, approachRate: -0.502335 m/s, LOS rate: -0.103406 deg/s, cmd update: -0.310218 deg/s, cmd heading: 222.628818 deg, new cmd heading: 222.943427 deg. 2021-08-13T14:01:32.244Z,1628863292.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:32.569Z,1628863292.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:32.569Z,1628863292.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:32.569Z,1628863292.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:32.570Z,1628863292.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:32.973Z,1628863292.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFE,000,01397,182,80,80,AE,FF 2021-08-13T14:01:32.973Z,1628863292.973 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:32.973Z,1628863292.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:32.976Z,1628863292.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:33.386Z,1628863293.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:34.212Z,1628863294.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,0136B,184,80,80,A8,FF 2021-08-13T14:01:34.213Z,1628863294.213 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:34.215Z,1628863294.215 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140134.50*58 2021-08-13T14:01:34.651Z,1628863294.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.760010 m, bearing: 223.630352 deg, deltaT: 4.841985 s, approachRate: -0.545228 m/s, LOS rate: -0.254317 deg/s, posRepo size: 4 2021-08-13T14:01:34.655Z,1628863294.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 260.760010 m, bearing: 223.630352 deg, approachRate: -0.545228 m/s, LOS rate: -0.254317 deg/s, cmd update: -0.762952 deg/s, cmd heading: 221.124208 deg, new cmd heading: 221.000502 deg. 2021-08-13T14:01:37.031Z,1628863297.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:37.423Z,1628863297.423 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:37.423Z,1628863297.423 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:37.423Z,1628863297.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:37.424Z,1628863297.424 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:37.825Z,1628863297.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03E,000,0136B,184,80,80,A8,FF 2021-08-13T14:01:37.825Z,1628863297.825 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:37.825Z,1628863297.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:37.827Z,1628863297.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:38.225Z,1628863298.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:39.038Z,1628863299.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,0133F,185,80,80,B1,FF 2021-08-13T14:01:39.038Z,1628863299.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:39.518Z,1628863299.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.119995 m, bearing: 223.544005 deg, deltaT: 4.804206 s, approachRate: -0.549522 m/s, LOS rate: -0.017973 deg/s, posRepo size: 4 2021-08-13T14:01:39.522Z,1628863299.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 258.119995 m, bearing: 223.544005 deg, approachRate: -0.549522 m/s, LOS rate: -0.017973 deg/s, cmd update: -0.053920 deg/s, cmd heading: 217.458840 deg, new cmd heading: 217.105933 deg. 2021-08-13T14:01:41.901Z,1628863301.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:42.265Z,1628863302.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:42.265Z,1628863302.265 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:42.265Z,1628863302.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:42.266Z,1628863302.266 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:42.677Z,1628863302.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 028,000,0133F,185,80,80,B1,FF 2021-08-13T14:01:42.678Z,1628863302.678 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:42.678Z,1628863302.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:42.679Z,1628863302.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:43.084Z,1628863303.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:43.899Z,1628863303.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,01319,183,80,80,BB,FF 2021-08-13T14:01:43.899Z,1628863303.899 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:43.903Z,1628863303.903 [Micromodem](INFO): Nmea in: $SNTTA,0.173129,,,,140144.21*48 2021-08-13T14:01:44.363Z,1628863304.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.839981 m, bearing: 223.458026 deg, deltaT: 4.913075 s, approachRate: -0.464071 m/s, LOS rate: -0.017500 deg/s, posRepo size: 4 2021-08-13T14:01:44.366Z,1628863304.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 255.839981 m, bearing: 223.458026 deg, approachRate: -0.464071 m/s, LOS rate: -0.017500 deg/s, cmd update: -0.052500 deg/s, cmd heading: 217.194575 deg, new cmd heading: 217.172703 deg. 2021-08-13T14:01:46.752Z,1628863306.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:47.124Z,1628863307.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:47.124Z,1628863307.124 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:47.124Z,1628863307.124 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:47.125Z,1628863307.125 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:47.525Z,1628863307.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF6,000,01319,183,80,80,BB,FF 2021-08-13T14:01:47.525Z,1628863307.525 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:47.525Z,1628863307.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:47.527Z,1628863307.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:47.937Z,1628863307.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:48.327Z,1628863308.327 [Micromodem](INFO): Nmea in: $SNTTA,0.146796,0.146096,,,140149.05*55 2021-08-13T14:01:48.741Z,1628863308.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,012E9,184,80,80,A1,FF 2021-08-13T14:01:48.741Z,1628863308.741 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:49.175Z,1628863309.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.959976 m, bearing: 224.011094 deg, deltaT: 4.838403 s, approachRate: -0.595239 m/s, LOS rate: 0.114308 deg/s, posRepo size: 4 2021-08-13T14:01:49.178Z,1628863309.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 252.959976 m, bearing: 224.011094 deg, approachRate: -0.595239 m/s, LOS rate: 0.114308 deg/s, cmd update: 0.342924 deg/s, cmd heading: 216.940139 deg, new cmd heading: 216.920564 deg. 2021-08-13T14:01:51.603Z,1628863311.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:51.973Z,1628863311.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:51.973Z,1628863311.973 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:51.973Z,1628863311.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:51.974Z,1628863311.974 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:52.365Z,1628863312.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDD,000,012E9,184,80,80,A1,FF 2021-08-13T14:01:52.365Z,1628863312.365 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:52.365Z,1628863312.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:52.367Z,1628863312.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:52.781Z,1628863312.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:53.609Z,1628863313.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,012C4,185,80,80,AA,FF 2021-08-13T14:01:53.609Z,1628863313.609 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:53.613Z,1628863313.613 [Micromodem](INFO): Nmea in: $SNTTA,0.169688,,,,140153.89*4B 2021-08-13T14:01:54.078Z,1628863314.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.739990 m, bearing: 224.370553 deg, deltaT: 4.831514 s, approachRate: -0.459480 m/s, LOS rate: 0.074399 deg/s, posRepo size: 4 2021-08-13T14:01:54.080Z,1628863314.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.739990 m, bearing: 224.370553 deg, approachRate: -0.459480 m/s, LOS rate: 0.074399 deg/s, cmd update: 0.223197 deg/s, cmd heading: 218.598366 deg, new cmd heading: 218.744746 deg. 2021-08-13T14:01:56.495Z,1628863316.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:01:56.810Z,1628863316.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:01:56.810Z,1628863316.810 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:01:56.811Z,1628863316.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:01:56.812Z,1628863316.812 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:01:57.219Z,1628863317.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDB,000,012C4,185,80,80,AA,FF 2021-08-13T14:01:57.219Z,1628863317.219 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:01:57.219Z,1628863317.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:01:57.221Z,1628863317.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:01:57.621Z,1628863317.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:01:58.425Z,1628863318.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,01299,183,80,80,AD,FF 2021-08-13T14:01:58.425Z,1628863318.425 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:01:58.448Z,1628863318.448 [Micromodem](INFO): Nmea in: $SNTTA,0.341556,0.340850,,,140158.74*5E 2021-08-13T14:01:58.882Z,1628863318.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.159988 m, bearing: 224.333711 deg, deltaT: 4.914057 s, approachRate: -0.525025 m/s, LOS rate: -0.007497 deg/s, posRepo size: 4 2021-08-13T14:01:58.886Z,1628863318.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.159988 m, bearing: 224.333711 deg, approachRate: -0.525025 m/s, LOS rate: -0.007497 deg/s, cmd update: -0.022492 deg/s, cmd heading: 219.694271 deg, new cmd heading: 219.768666 deg. 2021-08-13T14:02:01.370Z,1628863321.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:01.668Z,1628863321.668 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:01.668Z,1628863321.668 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:01.668Z,1628863321.668 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:01.669Z,1628863321.669 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:02.097Z,1628863322.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF1,000,01299,183,80,80,AD,FF 2021-08-13T14:02:02.097Z,1628863322.097 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:02.097Z,1628863322.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:02.099Z,1628863322.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:02.488Z,1628863322.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:03.275Z,1628863323.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0126E,183,80,80,A3,FF 2021-08-13T14:02:03.277Z,1628863323.277 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:03.283Z,1628863323.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140203.62*5E 2021-08-13T14:02:03.706Z,1628863323.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.580002 m, bearing: 224.081855 deg, deltaT: 4.782557 s, approachRate: -0.539458 m/s, LOS rate: -0.052661 deg/s, posRepo size: 4 2021-08-13T14:02:03.708Z,1628863323.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.580002 m, bearing: 224.081855 deg, approachRate: -0.539458 m/s, LOS rate: -0.052661 deg/s, cmd update: -0.157984 deg/s, cmd heading: 219.586794 deg, new cmd heading: 219.578263 deg. 2021-08-13T14:02:06.153Z,1628863326.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:06.517Z,1628863326.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:06.517Z,1628863326.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:06.517Z,1628863326.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:06.518Z,1628863326.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:06.914Z,1628863326.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,0126E,183,80,80,A3,FF 2021-08-13T14:02:06.914Z,1628863326.914 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:06.915Z,1628863326.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:06.916Z,1628863326.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:07.313Z,1628863327.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:08.137Z,1628863328.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,01247,183,80,80,AE,FF 2021-08-13T14:02:08.137Z,1628863328.137 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:08.140Z,1628863328.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140208.44*51 2021-08-13T14:02:08.566Z,1628863328.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.239990 m, bearing: 223.640952 deg, deltaT: 4.882352 s, approachRate: -0.479280 m/s, LOS rate: -0.090305 deg/s, posRepo size: 4 2021-08-13T14:02:08.568Z,1628863328.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 243.239990 m, bearing: 223.640952 deg, approachRate: -0.479280 m/s, LOS rate: -0.090305 deg/s, cmd update: -0.270916 deg/s, cmd heading: 218.815481 deg, new cmd heading: 218.759093 deg. 2021-08-13T14:02:10.967Z,1628863330.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:11.349Z,1628863331.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:11.349Z,1628863331.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:11.349Z,1628863331.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:11.350Z,1628863331.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:11.761Z,1628863331.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 011,000,01247,183,80,80,AE,FF 2021-08-13T14:02:11.762Z,1628863331.762 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:11.762Z,1628863331.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:11.763Z,1628863331.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:12.156Z,1628863332.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:12.965Z,1628863332.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0121B,183,80,80,A6,FF 2021-08-13T14:02:12.966Z,1628863332.966 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:12.969Z,1628863332.969 [Micromodem](INFO): Nmea in: $SNTTA,0.162441,0.406607,,,140213.29*57 2021-08-13T14:02:13.416Z,1628863333.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.599976 m, bearing: 223.293364 deg, deltaT: 4.800110 s, approachRate: -0.549990 m/s, LOS rate: -0.072413 deg/s, posRepo size: 4 2021-08-13T14:02:13.419Z,1628863333.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 240.599976 m, bearing: 223.293364 deg, approachRate: -0.549990 m/s, LOS rate: -0.072413 deg/s, cmd update: -0.217238 deg/s, cmd heading: 217.516174 deg, new cmd heading: 217.404815 deg. 2021-08-13T14:02:15.826Z,1628863335.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:16.193Z,1628863336.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:16.193Z,1628863336.193 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:16.193Z,1628863336.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:16.194Z,1628863336.194 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:16.605Z,1628863336.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,0121B,183,80,80,A6,FF 2021-08-13T14:02:16.605Z,1628863336.605 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:16.605Z,1628863336.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:16.607Z,1628863336.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:17.016Z,1628863337.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:17.837Z,1628863337.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,011F1,183,80,80,B4,FF 2021-08-13T14:02:17.837Z,1628863337.837 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:17.865Z,1628863337.865 [Micromodem](INFO): Nmea in: $SNTTA,0.161241,,,,140218.13*4D 2021-08-13T14:02:18.283Z,1628863338.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.079987 m, bearing: 222.937798 deg, deltaT: 4.919822 s, approachRate: -0.512211 m/s, LOS rate: -0.072272 deg/s, posRepo size: 4 2021-08-13T14:02:18.285Z,1628863338.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 238.079987 m, bearing: 222.937798 deg, approachRate: -0.512211 m/s, LOS rate: -0.072272 deg/s, cmd update: -0.216816 deg/s, cmd heading: 216.446510 deg, new cmd heading: 216.369549 deg. 2021-08-13T14:02:20.685Z,1628863340.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:21.045Z,1628863341.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:21.045Z,1628863341.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:21.045Z,1628863341.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:21.046Z,1628863341.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:21.481Z,1628863341.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEE,000,011F1,183,80,80,B4,FF 2021-08-13T14:02:21.481Z,1628863341.481 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:21.481Z,1628863341.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:21.483Z,1628863341.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:21.856Z,1628863341.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:22.663Z,1628863342.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,011C8,185,80,80,81,FF 2021-08-13T14:02:22.669Z,1628863342.669 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:22.684Z,1628863342.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140223.01*59 2021-08-13T14:02:23.117Z,1628863343.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.619995 m, bearing: 222.317002 deg, deltaT: 4.818036 s, approachRate: -0.510580 m/s, LOS rate: -0.128848 deg/s, posRepo size: 4 2021-08-13T14:02:23.119Z,1628863343.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 235.619995 m, bearing: 222.317002 deg, approachRate: -0.510580 m/s, LOS rate: -0.128848 deg/s, cmd update: -0.386545 deg/s, cmd heading: 215.400983 deg, new cmd heading: 215.321785 deg. 2021-08-13T14:02:25.561Z,1628863345.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:25.960Z,1628863345.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:25.961Z,1628863345.961 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:25.961Z,1628863345.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:25.962Z,1628863345.962 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:26.309Z,1628863346.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE4,000,011C8,185,80,80,81,FF 2021-08-13T14:02:26.309Z,1628863346.309 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:26.309Z,1628863346.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:26.311Z,1628863346.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:26.717Z,1628863346.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:27.549Z,1628863347.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,011A0,184,80,80,A3,FF 2021-08-13T14:02:27.550Z,1628863347.550 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:27.552Z,1628863347.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140227.83*57 2021-08-13T14:02:27.976Z,1628863347.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.220001 m, bearing: 222.013960 deg, deltaT: 4.823203 s, approachRate: -0.497593 m/s, LOS rate: -0.062830 deg/s, posRepo size: 4 2021-08-13T14:02:27.985Z,1628863347.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.220001 m, bearing: 222.013960 deg, approachRate: -0.497593 m/s, LOS rate: -0.062830 deg/s, cmd update: -0.188490 deg/s, cmd heading: 213.535008 deg, new cmd heading: 213.383007 deg. 2021-08-13T14:02:30.400Z,1628863350.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:30.745Z,1628863350.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:30.745Z,1628863350.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:30.745Z,1628863350.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:30.746Z,1628863350.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:31.149Z,1628863351.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCD,000,011A0,184,80,80,A3,FF 2021-08-13T14:02:31.150Z,1628863351.150 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:31.150Z,1628863351.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:31.151Z,1628863351.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:31.552Z,1628863351.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:32.354Z,1628863352.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,01175,186,80,80,A4,FF 2021-08-13T14:02:32.354Z,1628863352.354 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:32.357Z,1628863352.357 [Micromodem](INFO): Nmea in: $SNTTA,0.376260,0.375960,,,140232.67*51 2021-08-13T14:02:32.807Z,1628863352.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.639999 m, bearing: 223.144821 deg, deltaT: 4.846875 s, approachRate: -0.532302 m/s, LOS rate: 0.233318 deg/s, posRepo size: 4 2021-08-13T14:02:32.809Z,1628863352.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 230.639999 m, bearing: 223.144821 deg, approachRate: -0.532302 m/s, LOS rate: 0.233318 deg/s, cmd update: 0.699953 deg/s, cmd heading: 212.627541 deg, new cmd heading: 212.549544 deg. 2021-08-13T14:02:35.215Z,1628863355.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:35.597Z,1628863355.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:35.597Z,1628863355.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:35.598Z,1628863355.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:35.598Z,1628863355.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:36.012Z,1628863356.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F9D,000,01175,186,80,80,A4,FF 2021-08-13T14:02:36.013Z,1628863356.013 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:36.013Z,1628863356.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:36.023Z,1628863356.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:36.493Z,1628863356.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:37.215Z,1628863357.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,0114D,187,80,80,A5,FF 2021-08-13T14:02:37.216Z,1628863357.216 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:37.223Z,1628863357.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140237.55*5D 2021-08-13T14:02:37.646Z,1628863357.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.239990 m, bearing: 223.925430 deg, deltaT: 4.852937 s, approachRate: -0.494548 m/s, LOS rate: 0.160853 deg/s, posRepo size: 4 2021-08-13T14:02:37.664Z,1628863357.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.239990 m, bearing: 223.925430 deg, approachRate: -0.494548 m/s, LOS rate: 0.160853 deg/s, cmd update: 0.482559 deg/s, cmd heading: 216.044259 deg, new cmd heading: 216.304631 deg. 2021-08-13T14:02:40.139Z,1628863360.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:40.460Z,1628863360.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:40.461Z,1628863360.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:40.461Z,1628863360.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:40.463Z,1628863360.463 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:40.846Z,1628863360.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8F,000,0114D,187,80,80,A5,FF 2021-08-13T14:02:40.846Z,1628863360.846 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:40.846Z,1628863360.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:40.848Z,1628863360.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:41.305Z,1628863361.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:42.113Z,1628863362.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,01120,184,80,80,A9,FF 2021-08-13T14:02:42.113Z,1628863362.113 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:42.116Z,1628863362.116 [Micromodem](INFO): Nmea in: $SNTTA,0.152436,,,,140242.38*4D 2021-08-13T14:02:42.507Z,1628863362.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.539978 m, bearing: 224.001286 deg, deltaT: 4.874213 s, approachRate: -0.553938 m/s, LOS rate: 0.015563 deg/s, posRepo size: 4 2021-08-13T14:02:42.510Z,1628863362.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 225.539978 m, bearing: 224.001286 deg, approachRate: -0.553938 m/s, LOS rate: 0.015563 deg/s, cmd update: 0.046688 deg/s, cmd heading: 218.398332 deg, new cmd heading: 218.569637 deg. 2021-08-13T14:02:44.915Z,1628863364.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:45.305Z,1628863365.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:45.305Z,1628863365.305 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:45.305Z,1628863365.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:45.306Z,1628863365.306 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:45.689Z,1628863365.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBC,000,01120,184,80,80,A9,FF 2021-08-13T14:02:45.690Z,1628863365.690 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:45.690Z,1628863365.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:45.691Z,1628863365.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:46.125Z,1628863366.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:46.914Z,1628863366.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,010F8,184,80,80,AF,FF 2021-08-13T14:02:46.915Z,1628863366.915 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:47.340Z,1628863367.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.139984 m, bearing: 223.786299 deg, deltaT: 4.801993 s, approachRate: -0.499791 m/s, LOS rate: -0.044770 deg/s, posRepo size: 4 2021-08-13T14:02:47.342Z,1628863367.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.139984 m, bearing: 223.786299 deg, approachRate: -0.499791 m/s, LOS rate: -0.044770 deg/s, cmd update: -0.134311 deg/s, cmd heading: 218.621589 deg, new cmd heading: 218.640514 deg. 2021-08-13T14:02:49.774Z,1628863369.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:50.138Z,1628863370.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:50.138Z,1628863370.138 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:50.138Z,1628863370.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:50.139Z,1628863370.139 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:50.537Z,1628863370.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDB,000,010F8,184,80,80,AF,FF 2021-08-13T14:02:50.537Z,1628863370.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:50.537Z,1628863370.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:50.539Z,1628863370.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:50.970Z,1628863370.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:51.774Z,1628863371.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,010D0,185,80,80,AF,FF 2021-08-13T14:02:51.774Z,1628863371.774 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:51.779Z,1628863371.779 [Micromodem](INFO): Nmea in: $SNTTA,0.149662,,,,140252.07*49 2021-08-13T14:02:52.202Z,1628863372.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.739990 m, bearing: 224.125923 deg, deltaT: 4.898670 s, approachRate: -0.489928 m/s, LOS rate: 0.069330 deg/s, posRepo size: 4 2021-08-13T14:02:52.204Z,1628863372.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 220.739990 m, bearing: 224.125923 deg, approachRate: -0.489928 m/s, LOS rate: 0.069330 deg/s, cmd update: 0.207990 deg/s, cmd heading: 217.962058 deg, new cmd heading: 217.914089 deg. 2021-08-13T14:02:54.614Z,1628863374.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:54.983Z,1628863374.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:54.983Z,1628863374.983 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:54.983Z,1628863374.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:54.984Z,1628863374.984 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:02:55.378Z,1628863375.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDF,000,010D0,185,80,80,AF,FF 2021-08-13T14:02:55.379Z,1628863375.379 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:02:55.379Z,1628863375.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:02:55.381Z,1628863375.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:02:55.806Z,1628863375.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:02:56.199Z,1628863376.199 [Micromodem](INFO): Nmea in: $SNTTA,0.262723,0.262598,,,140256.90*51 2021-08-13T14:02:56.604Z,1628863376.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,010A5,183,80,80,86,FF 2021-08-13T14:02:56.605Z,1628863376.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:02:57.029Z,1628863377.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.159988 m, bearing: 223.460103 deg, deltaT: 4.823017 s, approachRate: -0.534935 m/s, LOS rate: -0.138051 deg/s, posRepo size: 4 2021-08-13T14:02:57.031Z,1628863377.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.159988 m, bearing: 223.460103 deg, approachRate: -0.534935 m/s, LOS rate: -0.138051 deg/s, cmd update: -0.414152 deg/s, cmd heading: 218.966011 deg, new cmd heading: 219.040244 deg. 2021-08-13T14:02:59.487Z,1628863379.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:02:59.837Z,1628863379.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:02:59.837Z,1628863379.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:02:59.837Z,1628863379.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:02:59.838Z,1628863379.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:00.248Z,1628863380.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEC,000,010A5,183,80,80,86,FF 2021-08-13T14:03:00.248Z,1628863380.248 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:00.249Z,1628863380.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:00.250Z,1628863380.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:00.648Z,1628863380.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:01.484Z,1628863381.484 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,01079,183,80,80,AB,FF 2021-08-13T14:03:01.485Z,1628863381.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:01.489Z,1628863381.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140301.77*59 2021-08-13T14:03:01.910Z,1628863381.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.519989 m, bearing: 223.337091 deg, deltaT: 4.883967 s, approachRate: -0.540544 m/s, LOS rate: -0.025187 deg/s, posRepo size: 4 2021-08-13T14:03:01.912Z,1628863381.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 215.519989 m, bearing: 223.337091 deg, approachRate: -0.540544 m/s, LOS rate: -0.025187 deg/s, cmd update: -0.075561 deg/s, cmd heading: 216.944884 deg, new cmd heading: 216.796499 deg. 2021-08-13T14:03:04.329Z,1628863384.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:04.693Z,1628863384.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:04.693Z,1628863384.693 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:04.693Z,1628863384.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:04.694Z,1628863384.694 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:05.105Z,1628863385.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEF,000,01079,183,80,80,AB,FF 2021-08-13T14:03:05.105Z,1628863385.105 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:05.105Z,1628863385.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:05.107Z,1628863385.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:05.523Z,1628863385.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:06.321Z,1628863386.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,0104E,184,80,80,92,FF 2021-08-13T14:03:06.322Z,1628863386.322 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:06.325Z,1628863386.325 [Micromodem](INFO): Nmea in: $SNTTA,,0.356087,,,140306.63*4A 2021-08-13T14:03:06.747Z,1628863386.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.939987 m, bearing: 223.761669 deg, deltaT: 4.890180 s, approachRate: -0.527588 m/s, LOS rate: 0.086823 deg/s, posRepo size: 4 2021-08-13T14:03:06.749Z,1628863386.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 212.939987 m, bearing: 223.761669 deg, approachRate: -0.527588 m/s, LOS rate: 0.086823 deg/s, cmd update: 0.260468 deg/s, cmd heading: 216.577923 deg, new cmd heading: 216.552341 deg. 2021-08-13T14:03:09.163Z,1628863389.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:09.537Z,1628863389.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:09.537Z,1628863389.537 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:09.537Z,1628863389.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:09.538Z,1628863389.538 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:09.941Z,1628863389.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD1,000,0104E,184,80,80,92,FF 2021-08-13T14:03:09.941Z,1628863389.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:09.941Z,1628863389.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:09.943Z,1628863389.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:10.353Z,1628863390.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:11.193Z,1628863391.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,01024,185,80,80,85,FF 2021-08-13T14:03:11.194Z,1628863391.194 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:11.196Z,1628863391.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140311.47*5B 2021-08-13T14:03:11.598Z,1628863391.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.419983 m, bearing: 224.110500 deg, deltaT: 4.761977 s, approachRate: -0.529193 m/s, LOS rate: 0.073253 deg/s, posRepo size: 4 2021-08-13T14:03:11.600Z,1628863391.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.419983 m, bearing: 224.110500 deg, approachRate: -0.529193 m/s, LOS rate: 0.073253 deg/s, cmd update: 0.219760 deg/s, cmd heading: 217.829149 deg, new cmd heading: 217.929676 deg. 2021-08-13T14:03:14.062Z,1628863394.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:14.393Z,1628863394.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:14.393Z,1628863394.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:14.393Z,1628863394.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:14.394Z,1628863394.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:14.789Z,1628863394.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC1,000,01024,185,80,80,85,FF 2021-08-13T14:03:14.790Z,1628863394.790 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:14.790Z,1628863394.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:14.791Z,1628863394.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:15.197Z,1628863395.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:16.060Z,1628863396.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCC,000,00FF9,184,80,80,82,FF 2021-08-13T14:03:16.060Z,1628863396.060 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:16.063Z,1628863396.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140316.32*5E 2021-08-13T14:03:16.475Z,1628863396.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.839996 m, bearing: 224.348054 deg, deltaT: 4.942894 s, approachRate: -0.521959 m/s, LOS rate: 0.048060 deg/s, posRepo size: 4 2021-08-13T14:03:16.477Z,1628863396.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 207.839996 m, bearing: 224.348054 deg, approachRate: -0.521959 m/s, LOS rate: 0.048060 deg/s, cmd update: 0.144179 deg/s, cmd heading: 218.915371 deg, new cmd heading: 218.985752 deg. 2021-08-13T14:03:18.870Z,1628863398.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:19.233Z,1628863399.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:19.233Z,1628863399.233 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:19.233Z,1628863399.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:19.234Z,1628863399.234 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:19.641Z,1628863399.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCC,000,00FF9,184,80,80,82,FF 2021-08-13T14:03:19.641Z,1628863399.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:19.641Z,1628863399.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:19.643Z,1628863399.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:20.093Z,1628863400.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:20.878Z,1628863400.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00FD1,185,80,80,99,FF 2021-08-13T14:03:20.878Z,1628863400.878 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:20.882Z,1628863400.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140321.17*5D 2021-08-13T14:03:21.291Z,1628863401.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.440002 m, bearing: 224.960927 deg, deltaT: 4.850252 s, approachRate: -0.494818 m/s, LOS rate: 0.126359 deg/s, posRepo size: 4 2021-08-13T14:03:21.294Z,1628863401.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.440002 m, bearing: 224.960927 deg, approachRate: -0.494818 m/s, LOS rate: 0.126359 deg/s, cmd update: 0.379077 deg/s, cmd heading: 219.613276 deg, new cmd heading: 219.655950 deg. 2021-08-13T14:03:23.721Z,1628863403.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:24.101Z,1628863404.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:24.101Z,1628863404.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:24.101Z,1628863404.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:24.102Z,1628863404.102 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:24.513Z,1628863404.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDA,000,00FD1,185,80,80,99,FF 2021-08-13T14:03:24.513Z,1628863404.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:24.513Z,1628863404.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:24.515Z,1628863404.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:24.910Z,1628863404.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:25.699Z,1628863405.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00FA5,185,80,80,83,FF 2021-08-13T14:03:25.700Z,1628863405.700 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:25.707Z,1628863405.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140326.04*58 2021-08-13T14:03:26.184Z,1628863406.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.799988 m, bearing: 225.146449 deg, deltaT: 4.761625 s, approachRate: -0.554436 m/s, LOS rate: 0.038962 deg/s, posRepo size: 4 2021-08-13T14:03:26.186Z,1628863406.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.799988 m, bearing: 225.146449 deg, approachRate: -0.554436 m/s, LOS rate: 0.038962 deg/s, cmd update: 0.116885 deg/s, cmd heading: 221.418965 deg, new cmd heading: 221.578523 deg. 2021-08-13T14:03:28.594Z,1628863408.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:28.969Z,1628863408.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:28.969Z,1628863408.969 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:28.969Z,1628863408.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:28.970Z,1628863408.970 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:29.354Z,1628863409.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE2,000,00FA5,185,80,80,83,FF 2021-08-13T14:03:29.354Z,1628863409.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:29.354Z,1628863409.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:29.356Z,1628863409.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:29.773Z,1628863409.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:30.565Z,1628863410.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00F7E,183,80,80,82,FF 2021-08-13T14:03:30.565Z,1628863410.565 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:30.568Z,1628863410.568 [Micromodem](INFO): Nmea in: $SNTTA,0.136201,,,,140330.88*42 2021-08-13T14:03:31.025Z,1628863411.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.459991 m, bearing: 224.469413 deg, deltaT: 4.827248 s, approachRate: -0.484747 m/s, LOS rate: -0.140253 deg/s, posRepo size: 4 2021-08-13T14:03:31.027Z,1628863411.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.459991 m, bearing: 224.469413 deg, approachRate: -0.484747 m/s, LOS rate: -0.140253 deg/s, cmd update: -0.420759 deg/s, cmd heading: 221.984144 deg, new cmd heading: 222.033928 deg. 2021-08-13T14:03:33.407Z,1628863413.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:33.781Z,1628863413.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:33.781Z,1628863413.781 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:33.781Z,1628863413.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:33.782Z,1628863413.782 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:34.181Z,1628863414.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 00B,000,00F7E,183,80,80,82,FF 2021-08-13T14:03:34.181Z,1628863414.181 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:34.181Z,1628863414.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:34.183Z,1628863414.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:34.597Z,1628863414.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:34.995Z,1628863414.995 [Micromodem](INFO): Nmea in: $SNTTA,0.134512,0.133287,,,140335.71*54 2021-08-13T14:03:35.393Z,1628863415.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00F53,182,80,80,85,FF 2021-08-13T14:03:35.394Z,1628863415.394 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:35.859Z,1628863415.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.879990 m, bearing: 225.253451 deg, deltaT: 4.842850 s, approachRate: -0.532745 m/s, LOS rate: 0.161896 deg/s, posRepo size: 4 2021-08-13T14:03:35.861Z,1628863415.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.879990 m, bearing: 225.253451 deg, approachRate: -0.532745 m/s, LOS rate: 0.161896 deg/s, cmd update: 0.485688 deg/s, cmd heading: 219.957355 deg, new cmd heading: 219.768992 deg. 2021-08-13T14:03:38.291Z,1628863418.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:38.629Z,1628863418.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:38.629Z,1628863418.629 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:38.629Z,1628863418.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:38.630Z,1628863418.630 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:39.029Z,1628863419.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 001,000,00F53,182,80,80,85,FF 2021-08-13T14:03:39.029Z,1628863419.029 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:39.029Z,1628863419.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:39.031Z,1628863419.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:39.476Z,1628863419.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:40.277Z,1628863420.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE6,000,00F2B,183,80,80,8C,FF 2021-08-13T14:03:40.277Z,1628863420.277 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:40.280Z,1628863420.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140340.56*5F 2021-08-13T14:03:40.691Z,1628863420.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.479996 m, bearing: 226.080177 deg, deltaT: 4.917344 s, approachRate: -0.488067 m/s, LOS rate: 0.168125 deg/s, posRepo size: 4 2021-08-13T14:03:40.693Z,1628863420.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.479996 m, bearing: 226.080177 deg, approachRate: -0.488067 m/s, LOS rate: 0.168125 deg/s, cmd update: 0.504374 deg/s, cmd heading: 222.358148 deg, new cmd heading: 222.521794 deg. 2021-08-13T14:03:43.147Z,1628863423.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:43.545Z,1628863423.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:43.545Z,1628863423.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:43.545Z,1628863423.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:43.546Z,1628863423.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:43.925Z,1628863423.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE6,000,00F2B,183,80,80,8C,FF 2021-08-13T14:03:43.925Z,1628863423.925 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:43.925Z,1628863423.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:43.927Z,1628863423.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:44.328Z,1628863424.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:45.145Z,1628863425.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00EFF,183,80,80,9B,FF 2021-08-13T14:03:45.145Z,1628863425.145 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:45.148Z,1628863425.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140345.45*58 2021-08-13T14:03:45.582Z,1628863425.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.839981 m, bearing: 225.437661 deg, deltaT: 4.846475 s, approachRate: -0.544729 m/s, LOS rate: -0.132574 deg/s, posRepo size: 4 2021-08-13T14:03:45.588Z,1628863425.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.839981 m, bearing: 225.437661 deg, approachRate: -0.544729 m/s, LOS rate: -0.132574 deg/s, cmd update: -0.397722 deg/s, cmd heading: 224.796284 deg, new cmd heading: 224.994906 deg. 2021-08-13T14:03:47.971Z,1628863427.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:48.357Z,1628863428.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:48.357Z,1628863428.357 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:48.357Z,1628863428.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:48.358Z,1628863428.358 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:48.765Z,1628863428.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 010,000,00EFF,183,80,80,9B,FF 2021-08-13T14:03:48.765Z,1628863428.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:48.765Z,1628863428.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:48.767Z,1628863428.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:49.173Z,1628863429.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:50.018Z,1628863430.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00ED3,185,80,80,A1,FF 2021-08-13T14:03:50.019Z,1628863430.019 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:50.042Z,1628863430.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140350.29*56 2021-08-13T14:03:50.449Z,1628863430.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.199997 m, bearing: 224.918239 deg, deltaT: 4.931962 s, approachRate: -0.535281 m/s, LOS rate: -0.105318 deg/s, posRepo size: 4 2021-08-13T14:03:50.466Z,1628863430.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 190.199997 m, bearing: 224.918239 deg, approachRate: -0.535281 m/s, LOS rate: -0.105318 deg/s, cmd update: -0.315953 deg/s, cmd heading: 222.833330 deg, new cmd heading: 222.713766 deg. 2021-08-13T14:03:52.823Z,1628863432.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:53.205Z,1628863433.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:53.205Z,1628863433.205 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:53.205Z,1628863433.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:53.206Z,1628863433.206 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:53.617Z,1628863433.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02E,000,00ED3,185,80,80,A1,FF 2021-08-13T14:03:53.617Z,1628863433.617 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:53.617Z,1628863433.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:53.619Z,1628863433.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:54.059Z,1628863434.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:54.845Z,1628863434.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00EAA,183,80,80,A7,FF 2021-08-13T14:03:54.845Z,1628863434.845 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:54.848Z,1628863434.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140355.14*5D 2021-08-13T14:03:55.265Z,1628863435.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.739990 m, bearing: 225.507711 deg, deltaT: 4.770195 s, approachRate: -0.515704 m/s, LOS rate: 0.123574 deg/s, posRepo size: 4 2021-08-13T14:03:55.267Z,1628863435.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.739990 m, bearing: 225.507711 deg, approachRate: -0.515704 m/s, LOS rate: 0.123574 deg/s, cmd update: 0.370722 deg/s, cmd heading: 221.330770 deg, new cmd heading: 221.208940 deg. 2021-08-13T14:03:57.677Z,1628863437.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:03:58.093Z,1628863438.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:03:58.093Z,1628863438.093 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:03:58.093Z,1628863438.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:03:58.094Z,1628863438.094 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:03:58.480Z,1628863438.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 016,000,00EAA,183,80,80,A7,FF 2021-08-13T14:03:58.480Z,1628863438.480 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:03:58.480Z,1628863438.480 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:03:58.482Z,1628863438.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:03:58.877Z,1628863438.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:03:59.685Z,1628863439.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00E7F,183,80,80,AA,FF 2021-08-13T14:03:59.685Z,1628863439.685 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:03:59.688Z,1628863439.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140400.00*5F 2021-08-13T14:04:00.152Z,1628863440.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.160004 m, bearing: 225.063326 deg, deltaT: 4.837116 s, approachRate: -0.533373 m/s, LOS rate: -0.091870 deg/s, posRepo size: 4 2021-08-13T14:04:00.154Z,1628863440.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.160004 m, bearing: 225.063326 deg, approachRate: -0.533373 m/s, LOS rate: -0.091870 deg/s, cmd update: -0.275610 deg/s, cmd heading: 223.132681 deg, new cmd heading: 223.285423 deg. 2021-08-13T14:04:02.556Z,1628863442.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:02.908Z,1628863442.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:02.908Z,1628863442.908 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:02.909Z,1628863442.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:02.910Z,1628863442.910 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:03.305Z,1628863443.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 008,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:03.305Z,1628863443.305 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:03.305Z,1628863443.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:03.307Z,1628863443.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:03.713Z,1628863443.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:04.114Z,1628863444.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:04.114Z,1628863444.114 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:04.562Z,1628863444.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140404.83*50 2021-08-13T14:04:04.592Z,1628863444.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.160004 m, bearing: 225.504283 deg, deltaT: 4.458460 s, approachRate: 0.000000 m/s, LOS rate: 0.098903 deg/s, posRepo size: 4 2021-08-13T14:04:04.594Z,1628863444.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.160004 m, bearing: 225.504283 deg, approachRate: 0.000000 m/s, LOS rate: 0.098903 deg/s, cmd update: 0.296710 deg/s, cmd heading: 221.905070 deg, new cmd heading: 221.795343 deg. 2021-08-13T14:04:06.995Z,1628863446.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:07.358Z,1628863447.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:07.359Z,1628863447.359 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:07.359Z,1628863447.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:07.360Z,1628863447.360 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:07.753Z,1628863447.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 008,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:07.754Z,1628863447.754 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:07.754Z,1628863447.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:07.755Z,1628863447.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:08.172Z,1628863448.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:08.558Z,1628863448.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:08.558Z,1628863448.558 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:09.129Z,1628863449.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140409.28*5C 2021-08-13T14:04:09.145Z,1628863449.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.160004 m, bearing: 225.394904 deg, deltaT: 4.429430 s, approachRate: 0.000000 m/s, LOS rate: -0.024694 deg/s, posRepo size: 4 2021-08-13T14:04:09.147Z,1628863449.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.160004 m, bearing: 225.394904 deg, approachRate: 0.000000 m/s, LOS rate: -0.024694 deg/s, cmd update: -0.074081 deg/s, cmd heading: 223.219487 deg, new cmd heading: 223.373973 deg. 2021-08-13T14:04:11.464Z,1628863451.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:11.793Z,1628863451.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:11.793Z,1628863451.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:11.794Z,1628863451.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:11.794Z,1628863451.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:12.205Z,1628863452.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 008,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:12.205Z,1628863452.205 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:12.205Z,1628863452.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:12.207Z,1628863452.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:12.601Z,1628863452.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:13.017Z,1628863453.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:13.018Z,1628863453.018 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:13.479Z,1628863453.479 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140413.73*59 2021-08-13T14:04:13.506Z,1628863453.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.160004 m, bearing: 226.052965 deg, deltaT: 4.413366 s, approachRate: 0.000000 m/s, LOS rate: 0.149106 deg/s, posRepo size: 4 2021-08-13T14:04:13.508Z,1628863453.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.160004 m, bearing: 226.052965 deg, approachRate: 0.000000 m/s, LOS rate: 0.149106 deg/s, cmd update: 0.447319 deg/s, cmd heading: 222.892388 deg, new cmd heading: 222.857819 deg. 2021-08-13T14:04:15.862Z,1628863455.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:16.249Z,1628863456.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:16.249Z,1628863456.249 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:16.249Z,1628863456.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:16.250Z,1628863456.250 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:16.653Z,1628863456.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 004,000,00E7F,183,80,80,AA,FF 2021-08-13T14:04:16.653Z,1628863456.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:16.653Z,1628863456.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:16.655Z,1628863456.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:17.062Z,1628863457.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:17.480Z,1628863457.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:17.480Z,1628863457.480 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:17.895Z,1628863457.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140418.18*5F 2021-08-13T14:04:17.914Z,1628863457.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.740005 m, bearing: 225.785126 deg, deltaT: 4.505633 s, approachRate: -2.090716 m/s, LOS rate: -0.059445 deg/s, posRepo size: 4 2021-08-13T14:04:17.916Z,1628863457.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 225.785126 deg, approachRate: -2.090716 m/s, LOS rate: -0.059445 deg/s, cmd update: -0.178336 deg/s, cmd heading: 224.906317 deg, new cmd heading: 225.072664 deg. 2021-08-13T14:04:20.362Z,1628863460.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:20.689Z,1628863460.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:20.689Z,1628863460.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:20.689Z,1628863460.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:20.690Z,1628863460.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:21.090Z,1628863461.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 010,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:21.090Z,1628863461.090 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:21.090Z,1628863461.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:21.093Z,1628863461.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:21.521Z,1628863461.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:21.899Z,1628863461.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:21.900Z,1628863461.900 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:22.409Z,1628863462.409 [Micromodem](INFO): Nmea in: $SNTTA,0.121251,,,,140422.62*41 2021-08-13T14:04:22.495Z,1628863462.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.740005 m, bearing: 225.553788 deg, deltaT: 4.414651 s, approachRate: 0.000000 m/s, LOS rate: -0.052402 deg/s, posRepo size: 4 2021-08-13T14:04:22.501Z,1628863462.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 225.553788 deg, approachRate: 0.000000 m/s, LOS rate: -0.052402 deg/s, cmd update: -0.157207 deg/s, cmd heading: 224.119563 deg, new cmd heading: 224.022972 deg. 2021-08-13T14:04:24.781Z,1628863464.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:25.135Z,1628863465.135 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:25.135Z,1628863465.135 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:25.135Z,1628863465.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:25.137Z,1628863465.137 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:25.529Z,1628863465.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 034,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:25.529Z,1628863465.529 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:25.529Z,1628863465.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:25.531Z,1628863465.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:25.945Z,1628863465.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:26.338Z,1628863466.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:26.338Z,1628863466.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:26.794Z,1628863466.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140427.06*5C 2021-08-13T14:04:26.846Z,1628863466.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.740005 m, bearing: 225.998529 deg, deltaT: 4.478474 s, approachRate: 0.000000 m/s, LOS rate: 0.099306 deg/s, posRepo size: 4 2021-08-13T14:04:26.849Z,1628863466.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 225.998529 deg, approachRate: 0.000000 m/s, LOS rate: 0.099306 deg/s, cmd update: 0.297919 deg/s, cmd heading: 223.416234 deg, new cmd heading: 223.350320 deg. 2021-08-13T14:04:29.202Z,1628863469.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:29.569Z,1628863469.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:29.569Z,1628863469.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:29.569Z,1628863469.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:29.570Z,1628863469.570 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:29.974Z,1628863469.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02E,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:29.974Z,1628863469.974 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:29.975Z,1628863469.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:29.979Z,1628863469.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:30.388Z,1628863470.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:30.782Z,1628863470.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:30.782Z,1628863470.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:31.221Z,1628863471.221 [Micromodem](INFO): Nmea in: $SNTTA,0.114518,,,,140431.50*4E 2021-08-13T14:04:31.256Z,1628863471.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.740005 m, bearing: 225.821968 deg, deltaT: 4.409215 s, approachRate: 0.000000 m/s, LOS rate: -0.040043 deg/s, posRepo size: 4 2021-08-13T14:04:31.258Z,1628863471.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 225.821968 deg, approachRate: 0.000000 m/s, LOS rate: -0.040043 deg/s, cmd update: -0.120130 deg/s, cmd heading: 224.723989 deg, new cmd heading: 224.854750 deg. 2021-08-13T14:04:33.658Z,1628863473.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:34.033Z,1628863474.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:34.033Z,1628863474.033 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:34.034Z,1628863474.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:34.035Z,1628863474.035 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:34.428Z,1628863474.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02A,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:34.428Z,1628863474.428 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:34.429Z,1628863474.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:34.430Z,1628863474.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:34.825Z,1628863474.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:35.226Z,1628863475.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04D,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:35.226Z,1628863475.226 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:35.673Z,1628863475.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140435.96*56 2021-08-13T14:04:35.710Z,1628863475.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.740005 m, bearing: 225.295279 deg, deltaT: 4.400314 s, approachRate: 0.000000 m/s, LOS rate: -0.119694 deg/s, posRepo size: 4 2021-08-13T14:04:35.713Z,1628863475.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 175.740005 m, bearing: 225.295279 deg, approachRate: 0.000000 m/s, LOS rate: -0.119694 deg/s, cmd update: -0.359081 deg/s, cmd heading: 224.191692 deg, new cmd heading: 224.136113 deg. 2021-08-13T14:04:38.131Z,1628863478.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:38.485Z,1628863478.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:38.485Z,1628863478.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:38.485Z,1628863478.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:38.485Z,1628863478.485 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:38.861Z,1628863478.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 04D,000,00DE2,183,80,80,AA,FF 2021-08-13T14:04:38.861Z,1628863478.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:38.861Z,1628863478.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:38.863Z,1628863478.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:39.268Z,1628863479.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:39.670Z,1628863479.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00D1E,183,80,80,AA,FF 2021-08-13T14:04:39.670Z,1628863479.670 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:40.113Z,1628863480.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140440.39*51 2021-08-13T14:04:40.165Z,1628863480.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.980011 m, bearing: 226.106883 deg, deltaT: 4.546580 s, approachRate: -2.586558 m/s, LOS rate: 0.178509 deg/s, posRepo size: 4 2021-08-13T14:04:40.167Z,1628863480.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.980011 m, bearing: 226.106883 deg, approachRate: -2.586558 m/s, LOS rate: 0.178509 deg/s, cmd update: 0.535526 deg/s, cmd heading: 222.559244 deg, new cmd heading: 222.425999 deg. 2021-08-13T14:04:42.567Z,1628863482.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:42.913Z,1628863482.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:42.913Z,1628863482.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:42.913Z,1628863482.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:42.914Z,1628863482.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:43.309Z,1628863483.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 044,000,00D1E,183,80,80,AA,FF 2021-08-13T14:04:43.310Z,1628863483.310 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:43.310Z,1628863483.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:43.311Z,1628863483.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:43.722Z,1628863483.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:44.118Z,1628863484.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00CF8,183,80,80,AA,FF 2021-08-13T14:04:44.118Z,1628863484.118 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:44.569Z,1628863484.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140444.84*53 2021-08-13T14:04:44.595Z,1628863484.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.699997 m, bearing: 226.154954 deg, deltaT: 4.410056 s, approachRate: -0.517003 m/s, LOS rate: 0.010900 deg/s, posRepo size: 4 2021-08-13T14:04:44.609Z,1628863484.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.699997 m, bearing: 226.154954 deg, approachRate: -0.517003 m/s, LOS rate: 0.010900 deg/s, cmd update: 0.032701 deg/s, cmd heading: 224.919789 deg, new cmd heading: 225.130367 deg. 2021-08-13T14:04:46.963Z,1628863486.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:47.346Z,1628863487.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:47.346Z,1628863487.346 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:47.346Z,1628863487.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:47.347Z,1628863487.347 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:47.753Z,1628863487.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 029,000,00CF8,183,80,80,AA,FF 2021-08-13T14:04:47.754Z,1628863487.754 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:47.754Z,1628863487.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:47.756Z,1628863487.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:48.161Z,1628863488.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:48.555Z,1628863488.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00CD0,183,80,80,AA,FF 2021-08-13T14:04:48.556Z,1628863488.556 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:49.010Z,1628863489.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140449.28*58 2021-08-13T14:04:49.032Z,1628863489.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.300003 m, bearing: 225.295730 deg, deltaT: 4.411129 s, approachRate: -0.544077 m/s, LOS rate: -0.194786 deg/s, posRepo size: 4 2021-08-13T14:04:49.034Z,1628863489.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.300003 m, bearing: 225.295730 deg, approachRate: -0.544077 m/s, LOS rate: -0.194786 deg/s, cmd update: -0.584357 deg/s, cmd heading: 225.063898 deg, new cmd heading: 225.077740 deg. 2021-08-13T14:04:51.432Z,1628863491.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:51.793Z,1628863491.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:51.793Z,1628863491.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:51.793Z,1628863491.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:51.794Z,1628863491.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:52.197Z,1628863492.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 042,000,00CD0,183,80,80,AA,FF 2021-08-13T14:04:52.197Z,1628863492.197 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:52.197Z,1628863492.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:52.199Z,1628863492.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:52.613Z,1628863492.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:53.010Z,1628863493.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00CA9,184,80,80,AA,FF 2021-08-13T14:04:53.010Z,1628863493.010 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:53.444Z,1628863493.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140453.72*5C 2021-08-13T14:04:53.518Z,1628863493.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.960007 m, bearing: 226.727802 deg, deltaT: 4.440024 s, approachRate: -0.527023 m/s, LOS rate: 0.322537 deg/s, posRepo size: 4 2021-08-13T14:04:53.528Z,1628863493.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.960007 m, bearing: 226.727802 deg, approachRate: -0.527023 m/s, LOS rate: 0.322537 deg/s, cmd update: 0.967611 deg/s, cmd heading: 222.480898 deg, new cmd heading: 222.195060 deg. 2021-08-13T14:04:55.898Z,1628863495.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:04:56.242Z,1628863496.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:04:56.242Z,1628863496.242 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:04:56.243Z,1628863496.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:04:56.243Z,1628863496.243 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:04:56.645Z,1628863496.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02F,000,00CA9,184,80,80,AA,FF 2021-08-13T14:04:56.645Z,1628863496.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:04:56.645Z,1628863496.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:04:56.647Z,1628863496.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:04:57.052Z,1628863497.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:04:57.462Z,1628863497.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00C83,185,80,80,AE,FF 2021-08-13T14:04:57.464Z,1628863497.464 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:04:57.890Z,1628863497.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140458.17*54 2021-08-13T14:04:57.923Z,1628863497.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.680008 m, bearing: 225.445652 deg, deltaT: 4.462210 s, approachRate: -0.510957 m/s, LOS rate: -0.287335 deg/s, posRepo size: 4 2021-08-13T14:04:57.925Z,1628863497.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.680008 m, bearing: 225.445652 deg, approachRate: -0.510957 m/s, LOS rate: -0.287335 deg/s, cmd update: -0.862005 deg/s, cmd heading: 226.825873 deg, new cmd heading: 227.216473 deg. 2021-08-13T14:05:00.315Z,1628863500.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:00.685Z,1628863500.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:00.685Z,1628863500.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:00.685Z,1628863500.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:00.686Z,1628863500.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:01.093Z,1628863501.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 037,000,00C83,185,80,80,AE,FF 2021-08-13T14:05:01.093Z,1628863501.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:01.093Z,1628863501.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:01.095Z,1628863501.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:01.529Z,1628863501.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:01.906Z,1628863501.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00C57,184,80,80,96,FF 2021-08-13T14:05:01.906Z,1628863501.906 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:02.342Z,1628863502.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140502.62*58 2021-08-13T14:05:02.378Z,1628863502.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.040009 m, bearing: 225.300675 deg, deltaT: 4.428370 s, approachRate: -0.596156 m/s, LOS rate: -0.032738 deg/s, posRepo size: 4 2021-08-13T14:05:02.381Z,1628863502.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.040009 m, bearing: 225.300675 deg, approachRate: -0.596156 m/s, LOS rate: -0.032738 deg/s, cmd update: -0.098215 deg/s, cmd heading: 223.008592 deg, new cmd heading: 222.637483 deg. 2021-08-13T14:05:04.825Z,1628863504.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:05.133Z,1628863505.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:05.133Z,1628863505.133 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:05.133Z,1628863505.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:05.134Z,1628863505.134 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:05.541Z,1628863505.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 056,000,00C57,184,80,80,96,FF 2021-08-13T14:05:05.542Z,1628863505.542 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:05.542Z,1628863505.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:05.543Z,1628863505.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:05.949Z,1628863505.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:06.349Z,1628863506.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00C31,182,80,80,92,FF 2021-08-13T14:05:06.350Z,1628863506.350 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:06.777Z,1628863506.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140507.07*5E 2021-08-13T14:05:06.819Z,1628863506.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.759995 m, bearing: 225.808581 deg, deltaT: 4.460086 s, approachRate: -0.511204 m/s, LOS rate: 0.113878 deg/s, posRepo size: 4 2021-08-13T14:05:06.830Z,1628863506.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.759995 m, bearing: 225.808581 deg, approachRate: -0.511204 m/s, LOS rate: 0.113878 deg/s, cmd update: 0.341635 deg/s, cmd heading: 222.570553 deg, new cmd heading: 222.530143 deg. 2021-08-13T14:05:09.219Z,1628863509.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:09.573Z,1628863509.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:09.573Z,1628863509.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:09.573Z,1628863509.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:09.574Z,1628863509.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:09.989Z,1628863509.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 015,000,00C31,182,80,80,92,FF 2021-08-13T14:05:09.989Z,1628863509.989 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:09.990Z,1628863509.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:09.996Z,1628863509.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:10.384Z,1628863510.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:10.805Z,1628863510.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00C09,183,80,80,96,FF 2021-08-13T14:05:10.806Z,1628863510.806 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:11.217Z,1628863511.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140511.52*59 2021-08-13T14:05:11.251Z,1628863511.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.360001 m, bearing: 225.581682 deg, deltaT: 4.445884 s, approachRate: -0.539824 m/s, LOS rate: -0.051036 deg/s, posRepo size: 4 2021-08-13T14:05:11.258Z,1628863511.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.360001 m, bearing: 225.581682 deg, approachRate: -0.539824 m/s, LOS rate: -0.051036 deg/s, cmd update: -0.153107 deg/s, cmd heading: 224.089407 deg, new cmd heading: 224.225332 deg. 2021-08-13T14:05:13.669Z,1628863513.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:14.045Z,1628863514.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:14.045Z,1628863514.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:14.046Z,1628863514.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:14.047Z,1628863514.047 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:14.422Z,1628863514.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 006,000,00C09,183,80,80,96,FF 2021-08-13T14:05:14.422Z,1628863514.422 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:14.423Z,1628863514.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:14.450Z,1628863514.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:14.839Z,1628863514.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:15.229Z,1628863515.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00BE4,183,80,80,96,FF 2021-08-13T14:05:15.230Z,1628863515.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:15.677Z,1628863515.677 [Micromodem](INFO): Nmea in: $SNTTA,0.098894,,,,140515.97*4E 2021-08-13T14:05:15.721Z,1628863515.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.140015 m, bearing: 224.913785 deg, deltaT: 4.431367 s, approachRate: -0.500971 m/s, LOS rate: -0.150720 deg/s, posRepo size: 4 2021-08-13T14:05:15.723Z,1628863515.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.140015 m, bearing: 224.913785 deg, approachRate: -0.500971 m/s, LOS rate: -0.150720 deg/s, cmd update: -0.452161 deg/s, cmd heading: 223.412170 deg, new cmd heading: 223.344257 deg. 2021-08-13T14:05:16.131Z,1628863516.131 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:05:18.170Z,1628863518.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:18.469Z,1628863518.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:18.470Z,1628863518.470 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:18.471Z,1628863518.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:18.472Z,1628863518.472 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:18.867Z,1628863518.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,00BE4,183,80,80,96,FF 2021-08-13T14:05:18.867Z,1628863518.867 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:18.867Z,1628863518.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:18.871Z,1628863518.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:19.276Z,1628863519.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:19.693Z,1628863519.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00BBD,182,80,80,A2,FF 2021-08-13T14:05:19.695Z,1628863519.695 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:20.126Z,1628863520.126 [Micromodem](INFO): Nmea in: $SNTTA,0.385264,,,,140520.40*48 2021-08-13T14:05:20.162Z,1628863520.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.800003 m, bearing: 225.667989 deg, deltaT: 4.484135 s, approachRate: -0.521842 m/s, LOS rate: 0.168194 deg/s, posRepo size: 4 2021-08-13T14:05:20.164Z,1628863520.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.800003 m, bearing: 225.667989 deg, approachRate: -0.521842 m/s, LOS rate: 0.168194 deg/s, cmd update: 0.504581 deg/s, cmd heading: 221.381698 deg, new cmd heading: 221.203399 deg. 2021-08-13T14:05:22.560Z,1628863522.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:22.913Z,1628863522.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:22.913Z,1628863522.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:22.913Z,1628863522.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:22.914Z,1628863522.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:23.309Z,1628863523.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 006,000,00BBD,182,80,80,A2,FF 2021-08-13T14:05:23.309Z,1628863523.309 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:23.309Z,1628863523.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:23.311Z,1628863523.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:23.800Z,1628863523.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:24.133Z,1628863524.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00B96,183,80,80,A6,FF 2021-08-13T14:05:24.134Z,1628863524.134 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:24.137Z,1628863524.137 [Micromodem](INFO): Nmea in: $SNTTA,0.105389,0.255495,,,140524.84*58 2021-08-13T14:05:24.610Z,1628863524.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.460007 m, bearing: 224.764286 deg, deltaT: 4.429864 s, approachRate: -0.528232 m/s, LOS rate: -0.204002 deg/s, posRepo size: 4 2021-08-13T14:05:24.616Z,1628863524.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.460007 m, bearing: 224.764286 deg, approachRate: -0.528232 m/s, LOS rate: -0.204002 deg/s, cmd update: -0.612007 deg/s, cmd heading: 223.617676 deg, new cmd heading: 223.821934 deg. 2021-08-13T14:05:26.164Z,1628863526.164 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T14:05:26.967Z,1628863526.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:27.349Z,1628863527.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:27.349Z,1628863527.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:27.349Z,1628863527.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:27.350Z,1628863527.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:27.769Z,1628863527.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,00B96,183,80,80,A6,FF 2021-08-13T14:05:27.769Z,1628863527.769 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:27.769Z,1628863527.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:27.771Z,1628863527.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:28.173Z,1628863528.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:28.573Z,1628863528.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00B6D,183,80,80,94,FF 2021-08-13T14:05:28.574Z,1628863528.574 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:28.993Z,1628863528.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.000000 m, bearing: 226.089138 deg, deltaT: 4.401790 s, approachRate: -0.558865 m/s, LOS rate: 0.300980 deg/s, posRepo size: 4 2021-08-13T14:05:28.995Z,1628863528.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.000000 m, bearing: 226.089138 deg, approachRate: -0.558865 m/s, LOS rate: 0.300980 deg/s, cmd update: 0.902941 deg/s, cmd heading: 220.923759 deg, new cmd heading: 220.683754 deg. 2021-08-13T14:05:31.489Z,1628863531.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:31.817Z,1628863531.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:31.817Z,1628863531.817 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:31.817Z,1628863531.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:31.818Z,1628863531.818 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:32.197Z,1628863532.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 001,000,00B6D,183,80,80,94,FF 2021-08-13T14:05:32.197Z,1628863532.197 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:32.197Z,1628863532.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:32.199Z,1628863532.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:32.605Z,1628863532.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:33.009Z,1628863533.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00B47,183,80,80,AB,FF 2021-08-13T14:05:33.009Z,1628863533.009 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:33.468Z,1628863533.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140533.72*5B 2021-08-13T14:05:33.523Z,1628863533.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.720001 m, bearing: 226.185047 deg, deltaT: 4.462358 s, approachRate: -0.510940 m/s, LOS rate: 0.021493 deg/s, posRepo size: 4 2021-08-13T14:05:33.528Z,1628863533.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.720001 m, bearing: 226.185047 deg, approachRate: -0.510940 m/s, LOS rate: 0.021493 deg/s, cmd update: 0.064479 deg/s, cmd heading: 224.949591 deg, new cmd heading: 225.368347 deg. 2021-08-13T14:05:35.875Z,1628863535.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:36.269Z,1628863536.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:36.269Z,1628863536.269 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:36.269Z,1628863536.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:36.270Z,1628863536.270 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:36.770Z,1628863536.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEF,000,00B47,183,80,80,AB,FF 2021-08-13T14:05:36.770Z,1628863536.770 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:36.770Z,1628863536.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:36.773Z,1628863536.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:37.149Z,1628863537.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:37.562Z,1628863537.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00B1F,184,80,80,9B,FF 2021-08-13T14:05:37.562Z,1628863537.562 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:37.978Z,1628863537.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140538.30*56 2021-08-13T14:05:38.066Z,1628863538.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.320007 m, bearing: 225.828867 deg, deltaT: 4.576938 s, approachRate: -0.524367 m/s, LOS rate: -0.077821 deg/s, posRepo size: 4 2021-08-13T14:05:38.074Z,1628863538.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 133.320007 m, bearing: 225.828867 deg, approachRate: -0.524367 m/s, LOS rate: -0.077821 deg/s, cmd update: -0.233462 deg/s, cmd heading: 225.244686 deg, new cmd heading: 225.272420 deg. 2021-08-13T14:05:38.411Z,1628863538.411 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T14:05:40.431Z,1628863540.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:40.793Z,1628863540.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:40.793Z,1628863540.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:40.793Z,1628863540.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:40.794Z,1628863540.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:41.185Z,1628863541.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01B,000,00B1F,184,80,80,9B,FF 2021-08-13T14:05:41.185Z,1628863541.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:41.185Z,1628863541.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:41.187Z,1628863541.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:41.596Z,1628863541.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:42.009Z,1628863542.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00AF7,185,80,80,99,FF 2021-08-13T14:05:42.010Z,1628863542.010 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:42.435Z,1628863542.435 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140542.71*5E 2021-08-13T14:05:42.543Z,1628863542.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.919998 m, bearing: 226.276873 deg, deltaT: 4.453879 s, approachRate: -0.538858 m/s, LOS rate: 0.100588 deg/s, posRepo size: 4 2021-08-13T14:05:42.546Z,1628863542.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.919998 m, bearing: 226.276873 deg, approachRate: -0.538858 m/s, LOS rate: 0.100588 deg/s, cmd update: 0.301763 deg/s, cmd heading: 224.206151 deg, new cmd heading: 224.098943 deg. 2021-08-13T14:05:44.905Z,1628863544.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:45.265Z,1628863545.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:45.265Z,1628863545.265 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:45.266Z,1628863545.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:45.266Z,1628863545.266 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:45.645Z,1628863545.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 022,000,00AF7,185,80,80,99,FF 2021-08-13T14:05:45.645Z,1628863545.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:45.645Z,1628863545.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:45.647Z,1628863545.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:46.125Z,1628863546.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:46.466Z,1628863546.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00AD0,183,80,80,AA,FF 2021-08-13T14:05:46.470Z,1628863546.470 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:46.898Z,1628863546.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140547.17*5B 2021-08-13T14:05:46.931Z,1628863546.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.580002 m, bearing: 227.053042 deg, deltaT: 4.450514 s, approachRate: -0.525781 m/s, LOS rate: 0.174400 deg/s, posRepo size: 4 2021-08-13T14:05:46.933Z,1628863546.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 128.580002 m, bearing: 227.053042 deg, approachRate: -0.525781 m/s, LOS rate: 0.174400 deg/s, cmd update: 0.523200 deg/s, cmd heading: 225.547856 deg, new cmd heading: 225.668688 deg. 2021-08-13T14:05:48.149Z,1628863548.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T14:05:49.300Z,1628863549.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:49.685Z,1628863549.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:49.685Z,1628863549.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:49.686Z,1628863549.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:49.687Z,1628863549.687 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:50.109Z,1628863550.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 015,000,00AD0,183,80,80,AA,FF 2021-08-13T14:05:50.109Z,1628863550.109 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:50.109Z,1628863550.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:50.111Z,1628863550.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:50.528Z,1628863550.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:50.909Z,1628863550.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00AA5,184,80,80,B8,FF 2021-08-13T14:05:50.909Z,1628863550.909 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:51.329Z,1628863551.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140551.63*5F 2021-08-13T14:05:51.372Z,1628863551.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.000000 m, bearing: 226.415525 deg, deltaT: 4.382531 s, approachRate: -0.588701 m/s, LOS rate: -0.145468 deg/s, posRepo size: 4 2021-08-13T14:05:51.374Z,1628863551.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.000000 m, bearing: 226.415525 deg, approachRate: -0.588701 m/s, LOS rate: -0.145468 deg/s, cmd update: -0.436403 deg/s, cmd heading: 227.848302 deg, new cmd heading: 228.070289 deg. 2021-08-13T14:05:53.774Z,1628863553.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:54.129Z,1628863554.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:54.130Z,1628863554.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:54.130Z,1628863554.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:54.131Z,1628863554.131 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:54.533Z,1628863554.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02A,000,00AA5,184,80,80,B8,FF 2021-08-13T14:05:54.533Z,1628863554.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:54.533Z,1628863554.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:54.535Z,1628863554.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:54.940Z,1628863554.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:55.337Z,1628863555.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00A7D,184,80,80,B0,FF 2021-08-13T14:05:55.338Z,1628863555.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:55.777Z,1628863555.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140556.06*5B 2021-08-13T14:05:55.839Z,1628863555.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 226.635389 deg, deltaT: 4.433597 s, approachRate: -0.541320 m/s, LOS rate: 0.049590 deg/s, posRepo size: 4 2021-08-13T14:05:55.845Z,1628863555.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.600006 m, bearing: 226.635389 deg, approachRate: -0.541320 m/s, LOS rate: 0.049590 deg/s, cmd update: 0.148771 deg/s, cmd heading: 225.913583 deg, new cmd heading: 225.704994 deg. 2021-08-13T14:05:57.890Z,1628863557.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:05:58.189Z,1628863558.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:05:58.189Z,1628863558.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:05:58.189Z,1628863558.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:05:58.190Z,1628863558.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:05:58.594Z,1628863558.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03F,000,00A7D,184,80,80,B0,FF 2021-08-13T14:05:58.594Z,1628863558.594 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:05:58.594Z,1628863558.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:05:58.596Z,1628863558.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:05:58.988Z,1628863558.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:05:59.381Z,1628863559.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00A58,185,80,80,C9,FF 2021-08-13T14:05:59.381Z,1628863559.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:05:59.809Z,1628863559.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140600.12*5E 2021-08-13T14:05:59.851Z,1628863559.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.380005 m, bearing: 226.442573 deg, deltaT: 4.038262 s, approachRate: -0.549742 m/s, LOS rate: -0.047747 deg/s, posRepo size: 4 2021-08-13T14:05:59.857Z,1628863559.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.380005 m, bearing: 226.442573 deg, approachRate: -0.549742 m/s, LOS rate: -0.047747 deg/s, cmd update: -0.143242 deg/s, cmd heading: 226.514315 deg, new cmd heading: 226.581640 deg. 2021-08-13T14:06:02.284Z,1628863562.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:02.613Z,1628863562.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:02.613Z,1628863562.613 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:02.613Z,1628863562.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:02.614Z,1628863562.614 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:03.009Z,1628863563.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 032,000,00A58,185,80,80,C9,FF 2021-08-13T14:06:03.009Z,1628863563.009 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:03.009Z,1628863563.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:03.011Z,1628863563.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:03.428Z,1628863563.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:03.829Z,1628863563.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00A2E,184,80,80,D0,FF 2021-08-13T14:06:03.830Z,1628863563.830 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:04.253Z,1628863564.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140604.53*5F 2021-08-13T14:06:04.326Z,1628863564.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.860001 m, bearing: 226.586430 deg, deltaT: 4.496513 s, approachRate: -0.560435 m/s, LOS rate: 0.031993 deg/s, posRepo size: 4 2021-08-13T14:06:04.333Z,1628863564.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.860001 m, bearing: 226.586430 deg, approachRate: -0.560435 m/s, LOS rate: 0.031993 deg/s, cmd update: 0.095979 deg/s, cmd heading: 225.871693 deg, new cmd heading: 225.809325 deg. 2021-08-13T14:06:06.285Z,1628863566.285 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T14:06:06.698Z,1628863566.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:07.049Z,1628863567.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:07.049Z,1628863567.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:07.049Z,1628863567.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:07.050Z,1628863567.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:07.464Z,1628863567.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03A,000,00A2E,184,80,80,D0,FF 2021-08-13T14:06:07.465Z,1628863567.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:07.465Z,1628863567.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:07.471Z,1628863567.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:07.865Z,1628863567.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:08.277Z,1628863568.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00A0B,185,80,80,C9,FF 2021-08-13T14:06:08.278Z,1628863568.278 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:08.705Z,1628863568.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140609.00*54 2021-08-13T14:06:08.736Z,1628863568.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.760002 m, bearing: 226.875621 deg, deltaT: 4.461198 s, approachRate: -0.470725 m/s, LOS rate: 0.064823 deg/s, posRepo size: 4 2021-08-13T14:06:08.738Z,1628863568.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.760002 m, bearing: 226.875621 deg, approachRate: -0.470725 m/s, LOS rate: 0.064823 deg/s, cmd update: 0.194470 deg/s, cmd heading: 226.300029 deg, new cmd heading: 226.337262 deg. 2021-08-13T14:06:11.267Z,1628863571.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:11.557Z,1628863571.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:11.557Z,1628863571.557 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:11.557Z,1628863571.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:11.558Z,1628863571.558 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:11.930Z,1628863571.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,00A0B,185,80,80,C9,FF 2021-08-13T14:06:11.930Z,1628863571.930 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:11.930Z,1628863571.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:11.932Z,1628863571.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:12.325Z,1628863572.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:12.729Z,1628863572.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,009E6,184,80,80,AC,FF 2021-08-13T14:06:12.729Z,1628863572.729 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:13.138Z,1628863573.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140613.45*5E 2021-08-13T14:06:13.160Z,1628863573.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 226.168737 deg, deltaT: 4.432269 s, approachRate: -0.500872 m/s, LOS rate: -0.159486 deg/s, posRepo size: 4 2021-08-13T14:06:13.162Z,1628863573.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.540001 m, bearing: 226.168737 deg, approachRate: -0.500872 m/s, LOS rate: -0.159486 deg/s, cmd update: -0.478457 deg/s, cmd heading: 227.162171 deg, new cmd heading: 227.235813 deg. 2021-08-13T14:06:15.577Z,1628863575.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:15.945Z,1628863575.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:15.945Z,1628863575.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:15.945Z,1628863575.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:15.946Z,1628863575.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:16.350Z,1628863576.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 035,000,009E6,184,80,80,AC,FF 2021-08-13T14:06:16.350Z,1628863576.350 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:16.350Z,1628863576.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:16.351Z,1628863576.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:16.479Z,1628863576.479 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T14:06:16.758Z,1628863576.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:17.166Z,1628863577.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,009BE,184,80,80,C4,FF 2021-08-13T14:06:17.166Z,1628863577.166 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:17.597Z,1628863577.597 [Micromodem](INFO): Nmea in: $SNTTA,0.090799,,,,140617.88*4B 2021-08-13T14:06:17.627Z,1628863577.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.140007 m, bearing: 226.347305 deg, deltaT: 4.394427 s, approachRate: -0.546145 m/s, LOS rate: 0.040635 deg/s, posRepo size: 4 2021-08-13T14:06:17.650Z,1628863577.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.140007 m, bearing: 226.347305 deg, approachRate: -0.546145 m/s, LOS rate: 0.040635 deg/s, cmd update: 0.121906 deg/s, cmd heading: 225.055688 deg, new cmd heading: 224.843327 deg. 2021-08-13T14:06:20.073Z,1628863580.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:20.397Z,1628863580.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:20.397Z,1628863580.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:20.397Z,1628863580.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:20.398Z,1628863580.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:20.789Z,1628863580.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 035,000,009BE,184,80,80,C4,FF 2021-08-13T14:06:20.789Z,1628863580.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:20.789Z,1628863580.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:20.791Z,1628863580.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:21.197Z,1628863581.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:21.601Z,1628863581.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00998,185,80,80,C5,FF 2021-08-13T14:06:21.602Z,1628863581.602 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:22.061Z,1628863582.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140622.32*5C 2021-08-13T14:06:22.115Z,1628863582.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.860008 m, bearing: 226.609612 deg, deltaT: 4.474482 s, approachRate: -0.509556 m/s, LOS rate: 0.058623 deg/s, posRepo size: 4 2021-08-13T14:06:22.122Z,1628863582.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.860008 m, bearing: 226.609612 deg, approachRate: -0.509556 m/s, LOS rate: 0.058623 deg/s, cmd update: 0.175868 deg/s, cmd heading: 225.600665 deg, new cmd heading: 225.656886 deg. 2021-08-13T14:06:24.183Z,1628863584.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:24.464Z,1628863584.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:24.465Z,1628863584.465 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:24.465Z,1628863584.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:24.467Z,1628863584.467 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:24.921Z,1628863584.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 01F,000,00998,185,80,80,C5,FF 2021-08-13T14:06:24.921Z,1628863584.921 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:24.921Z,1628863584.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:24.923Z,1628863584.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:25.269Z,1628863585.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:26.178Z,1628863586.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140626.45*58 2021-08-13T14:06:26.198Z,1628863586.198 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T14:06:26.897Z,1628863586.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:28.490Z,1628863588.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 8,185,80,80,C5,FF 2021-08-13T14:06:28.490Z,1628863588.490 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 8,185,80,80,C5,FF 2021-08-13T14:06:28.490Z,1628863588.490 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:06:29.724Z,1628863589.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:30.108Z,1628863590.108 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:30.108Z,1628863590.108 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:30.108Z,1628863590.108 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:30.109Z,1628863590.109 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:30.513Z,1628863590.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 8,185,80,80,C5,FF 2021-08-13T14:06:30.513Z,1628863590.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:30.513Z,1628863590.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:30.515Z,1628863590.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:30.899Z,1628863590.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:31.301Z,1628863591.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00943,185,80,80,C2,FF 2021-08-13T14:06:31.301Z,1628863591.301 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:31.729Z,1628863591.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140632.04*58 2021-08-13T14:06:31.767Z,1628863591.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.760002 m, bearing: 226.698896 deg, deltaT: 9.706685 s, approachRate: -0.525412 m/s, LOS rate: 0.009198 deg/s, posRepo size: 4 2021-08-13T14:06:31.769Z,1628863591.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.760002 m, bearing: 226.698896 deg, approachRate: -0.525412 m/s, LOS rate: 0.009198 deg/s, cmd update: 0.027595 deg/s, cmd heading: 227.308427 deg, new cmd heading: 227.379158 deg. 2021-08-13T14:06:34.177Z,1628863594.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:34.541Z,1628863594.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:34.541Z,1628863594.541 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:34.541Z,1628863594.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:34.542Z,1628863594.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:34.941Z,1628863594.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 024,000,00943,185,80,80,C2,FF 2021-08-13T14:06:34.941Z,1628863594.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:34.941Z,1628863594.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:34.943Z,1628863594.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:35.349Z,1628863595.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:35.746Z,1628863595.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0091C,184,80,80,9C,FF 2021-08-13T14:06:35.746Z,1628863595.746 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:36.193Z,1628863596.193 [Micromodem](INFO): Nmea in: $SNTTA,0.481027,0.481033,,,140636.47*5E 2021-08-13T14:06:36.246Z,1628863596.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.420006 m, bearing: 226.489893 deg, deltaT: 4.408858 s, approachRate: -0.530749 m/s, LOS rate: -0.047405 deg/s, posRepo size: 4 2021-08-13T14:06:36.252Z,1628863596.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.420006 m, bearing: 226.489893 deg, approachRate: -0.530749 m/s, LOS rate: -0.047405 deg/s, cmd update: -0.142216 deg/s, cmd heading: 227.430090 deg, new cmd heading: 227.443130 deg. 2021-08-13T14:06:38.311Z,1628863598.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:38.609Z,1628863598.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:38.609Z,1628863598.609 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:38.609Z,1628863598.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:38.610Z,1628863598.610 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:38.981Z,1628863598.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02F,000,0091C,184,80,80,9C,FF 2021-08-13T14:06:38.981Z,1628863598.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:38.982Z,1628863598.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:38.983Z,1628863598.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:39.402Z,1628863599.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:39.777Z,1628863599.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,008F9,184,80,80,B2,FF 2021-08-13T14:06:39.778Z,1628863599.778 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:40.229Z,1628863600.229 [Micromodem](INFO): Nmea in: $SNTTA,0.418337,,,,140640.51*49 2021-08-13T14:06:40.265Z,1628863600.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 227.424385 deg, deltaT: 4.059627 s, approachRate: -0.517289 m/s, LOS rate: 0.230192 deg/s, posRepo size: 4 2021-08-13T14:06:40.267Z,1628863600.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.320007 m, bearing: 227.424385 deg, approachRate: -0.517289 m/s, LOS rate: 0.230192 deg/s, cmd update: 0.690575 deg/s, cmd heading: 226.853889 deg, new cmd heading: 226.791414 deg. 2021-08-13T14:06:42.662Z,1628863602.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:43.013Z,1628863603.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:43.013Z,1628863603.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:43.013Z,1628863603.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:43.014Z,1628863603.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:43.410Z,1628863603.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02E,000,008F9,184,80,80,B2,FF 2021-08-13T14:06:43.410Z,1628863603.410 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:43.410Z,1628863603.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:43.414Z,1628863603.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:43.821Z,1628863603.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:44.226Z,1628863604.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,008D4,185,80,80,98,FF 2021-08-13T14:06:44.227Z,1628863604.227 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:44.655Z,1628863604.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140644.98*5C 2021-08-13T14:06:44.676Z,1628863604.676 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:06:44.695Z,1628863604.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 227.574486 deg, deltaT: 4.490336 s, approachRate: -0.494395 m/s, LOS rate: 0.033427 deg/s, posRepo size: 4 2021-08-13T14:06:44.698Z,1628863604.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.100006 m, bearing: 227.574486 deg, approachRate: -0.494395 m/s, LOS rate: 0.033427 deg/s, cmd update: 0.100282 deg/s, cmd heading: 229.957294 deg, new cmd heading: 230.217246 deg. 2021-08-13T14:06:47.095Z,1628863607.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:47.472Z,1628863607.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:47.473Z,1628863607.473 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:47.474Z,1628863607.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:47.475Z,1628863607.475 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:47.857Z,1628863607.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02E,000,008D4,185,80,80,98,FF 2021-08-13T14:06:47.857Z,1628863607.857 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:47.857Z,1628863607.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:47.859Z,1628863607.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:48.273Z,1628863608.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:48.665Z,1628863608.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,008AC,186,80,80,A0,FF 2021-08-13T14:06:48.665Z,1628863608.665 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:49.126Z,1628863609.126 [Micromodem](INFO): Nmea in: $SNTTA,0.069360,,,,140649.38*4F 2021-08-13T14:06:49.155Z,1628863609.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 227.091455 deg, deltaT: 4.369524 s, approachRate: -0.549261 m/s, LOS rate: -0.110545 deg/s, posRepo size: 4 2021-08-13T14:06:49.158Z,1628863609.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.699997 m, bearing: 227.091455 deg, approachRate: -0.549261 m/s, LOS rate: -0.110545 deg/s, cmd update: -0.331636 deg/s, cmd heading: 230.395917 deg, new cmd heading: 230.442058 deg. 2021-08-13T14:06:51.233Z,1628863611.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:51.635Z,1628863611.635 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:51.635Z,1628863611.635 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:51.635Z,1628863611.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:51.652Z,1628863611.652 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:51.929Z,1628863611.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 067,000,008AC,186,80,80,A0,FF 2021-08-13T14:06:51.929Z,1628863611.929 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:51.929Z,1628863611.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:51.931Z,1628863611.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:52.329Z,1628863612.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:52.721Z,1628863612.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00889,186,80,80,BA,FF 2021-08-13T14:06:52.721Z,1628863612.721 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:53.141Z,1628863613.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140653.46*59 2021-08-13T14:06:53.166Z,1628863613.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 226.757677 deg, deltaT: 4.075651 s, approachRate: -0.515255 m/s, LOS rate: -0.081896 deg/s, posRepo size: 4 2021-08-13T14:06:53.199Z,1628863613.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.599998 m, bearing: 226.757677 deg, approachRate: -0.515255 m/s, LOS rate: -0.081896 deg/s, cmd update: -0.245687 deg/s, cmd heading: 229.050926 deg, new cmd heading: 228.913241 deg. 2021-08-13T14:06:55.563Z,1628863615.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:06:55.945Z,1628863615.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:06:55.945Z,1628863615.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:06:55.945Z,1628863615.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:06:55.946Z,1628863615.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:06:56.349Z,1628863616.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06F,000,00889,186,80,80,BA,FF 2021-08-13T14:06:56.349Z,1628863616.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:06:56.349Z,1628863616.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:06:56.351Z,1628863616.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:06:56.753Z,1628863616.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:06:57.160Z,1628863617.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00861,184,80,80,B2,FF 2021-08-13T14:06:57.161Z,1628863617.161 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:06:57.597Z,1628863617.597 [Micromodem](INFO): Nmea in: $SNTTA,0.060542,,,,140657.88*44 2021-08-13T14:06:57.623Z,1628863617.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.200005 m, bearing: 226.998222 deg, deltaT: 4.413774 s, approachRate: -0.543751 m/s, LOS rate: 0.054499 deg/s, posRepo size: 4 2021-08-13T14:06:57.649Z,1628863617.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.200005 m, bearing: 226.998222 deg, approachRate: -0.543751 m/s, LOS rate: 0.054499 deg/s, cmd update: 0.163497 deg/s, cmd heading: 227.961539 deg, new cmd heading: 227.853284 deg. 2021-08-13T14:07:00.067Z,1628863620.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:00.385Z,1628863620.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:00.385Z,1628863620.385 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:00.385Z,1628863620.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:00.386Z,1628863620.386 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:00.789Z,1628863620.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 054,000,00861,184,80,80,B2,FF 2021-08-13T14:07:00.790Z,1628863620.790 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:00.790Z,1628863620.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:00.791Z,1628863620.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:01.192Z,1628863621.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:01.602Z,1628863621.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,0083B,184,80,80,B2,FF 2021-08-13T14:07:01.602Z,1628863621.602 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:02.025Z,1628863622.025 [Micromodem](INFO): Nmea in: $SNTTA,0.071944,,,,140702.34*48 2021-08-13T14:07:02.088Z,1628863622.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 227.218838 deg, deltaT: 4.447584 s, approachRate: -0.512639 m/s, LOS rate: 0.049603 deg/s, posRepo size: 4 2021-08-13T14:07:02.090Z,1628863622.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.919998 m, bearing: 227.218838 deg, approachRate: -0.512639 m/s, LOS rate: 0.049603 deg/s, cmd update: 0.148810 deg/s, cmd heading: 228.688697 deg, new cmd heading: 228.762840 deg. 2021-08-13T14:07:04.594Z,1628863624.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:04.853Z,1628863624.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:04.853Z,1628863624.853 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:04.853Z,1628863624.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:04.854Z,1628863624.854 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:05.304Z,1628863625.304 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03D,000,0083B,184,80,80,B2,FF 2021-08-13T14:07:05.304Z,1628863625.304 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:05.305Z,1628863625.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:05.306Z,1628863625.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:05.674Z,1628863625.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:06.115Z,1628863626.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00810,184,80,80,A5,FF 2021-08-13T14:07:06.118Z,1628863626.118 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:06.491Z,1628863626.491 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140706.83*51 2021-08-13T14:07:06.534Z,1628863626.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.340004 m, bearing: 226.273212 deg, deltaT: 4.588849 s, approachRate: -0.562231 m/s, LOS rate: -0.206070 deg/s, posRepo size: 4 2021-08-13T14:07:06.536Z,1628863626.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.340004 m, bearing: 226.273212 deg, approachRate: -0.562231 m/s, LOS rate: -0.206070 deg/s, cmd update: -0.618211 deg/s, cmd heading: 229.370759 deg, new cmd heading: 229.418455 deg. 2021-08-13T14:07:08.913Z,1628863628.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:09.273Z,1628863629.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:09.273Z,1628863629.273 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:09.274Z,1628863629.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:09.275Z,1628863629.275 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:09.673Z,1628863629.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 050,000,00810,184,80,80,A5,FF 2021-08-13T14:07:09.673Z,1628863629.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:09.673Z,1628863629.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:09.675Z,1628863629.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:10.112Z,1628863630.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:10.513Z,1628863630.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,007E6,186,80,80,8B,FF 2021-08-13T14:07:10.513Z,1628863630.513 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:10.921Z,1628863630.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140711.20*5E 2021-08-13T14:07:10.956Z,1628863630.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.820007 m, bearing: 225.084212 deg, deltaT: 4.358321 s, approachRate: -0.578204 m/s, LOS rate: -0.272811 deg/s, posRepo size: 4 2021-08-13T14:07:10.958Z,1628863630.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 83.820007 m, bearing: 225.084212 deg, approachRate: -0.578204 m/s, LOS rate: -0.272811 deg/s, cmd update: -0.818434 deg/s, cmd heading: 226.680639 deg, new cmd heading: 226.438891 deg. 2021-08-13T14:07:13.331Z,1628863633.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:13.717Z,1628863633.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:13.717Z,1628863633.717 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:13.717Z,1628863633.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:13.718Z,1628863633.718 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:14.117Z,1628863634.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 063,000,007E6,186,80,80,8B,FF 2021-08-13T14:07:14.117Z,1628863634.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:14.117Z,1628863634.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:14.119Z,1628863634.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:14.529Z,1628863634.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:14.937Z,1628863634.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,007C2,183,80,80,A1,FF 2021-08-13T14:07:14.937Z,1628863634.937 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:15.365Z,1628863635.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140715.64*5A 2021-08-13T14:07:15.399Z,1628863635.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.659996 m, bearing: 227.659781 deg, deltaT: 4.417857 s, approachRate: -0.488927 m/s, LOS rate: 0.582991 deg/s, posRepo size: 4 2021-08-13T14:07:15.401Z,1628863635.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.659996 m, bearing: 227.659781 deg, approachRate: -0.488927 m/s, LOS rate: 0.582991 deg/s, cmd update: 1.748972 deg/s, cmd heading: 223.054864 deg, new cmd heading: 222.724489 deg. 2021-08-13T14:07:17.861Z,1628863637.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:18.185Z,1628863638.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:18.185Z,1628863638.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:18.185Z,1628863638.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:18.186Z,1628863638.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:18.573Z,1628863638.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 013,000,007C2,183,80,80,A1,FF 2021-08-13T14:07:18.573Z,1628863638.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:18.573Z,1628863638.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:18.575Z,1628863638.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:19.049Z,1628863639.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:19.377Z,1628863639.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00797,185,80,80,9D,FF 2021-08-13T14:07:19.378Z,1628863639.378 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:19.817Z,1628863639.817 [Micromodem](INFO): Nmea in: $SNTTA,0.082053,,,,140720.10*4D 2021-08-13T14:07:19.854Z,1628863639.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.080002 m, bearing: 228.733965 deg, deltaT: 4.434940 s, approachRate: -0.581743 m/s, LOS rate: 0.242209 deg/s, posRepo size: 4 2021-08-13T14:07:19.856Z,1628863639.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.080002 m, bearing: 228.733965 deg, approachRate: -0.581743 m/s, LOS rate: 0.242209 deg/s, cmd update: 0.726628 deg/s, cmd heading: 230.803146 deg, new cmd heading: 231.553110 deg. 2021-08-13T14:07:22.256Z,1628863642.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:22.609Z,1628863642.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:22.609Z,1628863642.609 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:22.609Z,1628863642.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:22.610Z,1628863642.610 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:23.013Z,1628863643.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDB,000,00797,185,80,80,9D,FF 2021-08-13T14:07:23.013Z,1628863643.013 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:23.013Z,1628863643.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:23.015Z,1628863643.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:23.413Z,1628863643.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:23.822Z,1628863643.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,0076E,186,80,80,B6,FF 2021-08-13T14:07:23.822Z,1628863643.822 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:24.242Z,1628863644.242 [Micromodem](INFO): Nmea in: $SNTTA,0.076281,0.402948,,,140724.54*52 2021-08-13T14:07:24.278Z,1628863644.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 225.836366 deg, deltaT: 4.419366 s, approachRate: -0.556641 m/s, LOS rate: -0.655659 deg/s, posRepo size: 4 2021-08-13T14:07:24.280Z,1628863644.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.620003 m, bearing: 225.836366 deg, approachRate: -0.556641 m/s, LOS rate: -0.655659 deg/s, cmd update: -1.966978 deg/s, cmd heading: 234.017279 deg, new cmd heading: 234.329073 deg. 2021-08-13T14:07:26.689Z,1628863646.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:27.049Z,1628863647.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:27.049Z,1628863647.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:27.049Z,1628863647.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:27.050Z,1628863647.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:27.475Z,1628863647.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 075,000,0076E,186,80,80,B6,FF 2021-08-13T14:07:27.475Z,1628863647.475 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:27.476Z,1628863647.476 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:27.478Z,1628863647.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:27.860Z,1628863647.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:28.265Z,1628863648.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00749,186,80,80,A1,FF 2021-08-13T14:07:28.266Z,1628863648.266 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:28.693Z,1628863648.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140729.00*57 2021-08-13T14:07:28.720Z,1628863648.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.400009 m, bearing: 226.158779 deg, deltaT: 4.497056 s, approachRate: -0.493655 m/s, LOS rate: 0.071694 deg/s, posRepo size: 4 2021-08-13T14:07:28.722Z,1628863648.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.400009 m, bearing: 226.158779 deg, approachRate: -0.493655 m/s, LOS rate: 0.071694 deg/s, cmd update: 0.215082 deg/s, cmd heading: 225.170129 deg, new cmd heading: 224.436073 deg. 2021-08-13T14:07:31.229Z,1628863651.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:31.540Z,1628863651.540 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:31.540Z,1628863651.540 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:31.540Z,1628863651.540 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:31.541Z,1628863651.541 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:31.913Z,1628863651.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A5,000,00749,186,80,80,A1,FF 2021-08-13T14:07:31.913Z,1628863651.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:31.914Z,1628863651.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:31.915Z,1628863651.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:32.389Z,1628863652.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:32.731Z,1628863652.731 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00722,183,80,80,98,FF 2021-08-13T14:07:32.733Z,1628863652.733 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:33.157Z,1628863653.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140733.44*5C 2021-08-13T14:07:33.179Z,1628863653.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 228.099290 deg, deltaT: 4.455856 s, approachRate: -0.525153 m/s, LOS rate: 0.435497 deg/s, posRepo size: 4 2021-08-13T14:07:33.202Z,1628863653.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.060005 m, bearing: 228.099290 deg, approachRate: -0.525153 m/s, LOS rate: 0.435497 deg/s, cmd update: 1.306491 deg/s, cmd heading: 226.127648 deg, new cmd heading: 226.209603 deg. 2021-08-13T14:07:35.562Z,1628863655.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:35.945Z,1628863655.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:35.945Z,1628863655.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:35.945Z,1628863655.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:35.946Z,1628863655.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:36.337Z,1628863656.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 011,000,00722,183,80,80,98,FF 2021-08-13T14:07:36.337Z,1628863656.337 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:36.337Z,1628863656.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:36.339Z,1628863656.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:36.757Z,1628863656.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:37.149Z,1628863657.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,006F8,184,80,80,94,FF 2021-08-13T14:07:37.149Z,1628863657.149 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:37.597Z,1628863657.597 [Micromodem](INFO): Nmea in: $SNTTA,0.057387,,,,140737.86*46 2021-08-13T14:07:37.623Z,1628863657.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 225.696593 deg, deltaT: 4.391926 s, approachRate: -0.573781 m/s, LOS rate: -0.547071 deg/s, posRepo size: 4 2021-08-13T14:07:37.645Z,1628863657.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.540001 m, bearing: 225.696593 deg, approachRate: -0.573781 m/s, LOS rate: -0.547071 deg/s, cmd update: -1.641214 deg/s, cmd heading: 231.865727 deg, new cmd heading: 232.431069 deg. 2021-08-13T14:07:40.070Z,1628863660.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:40.385Z,1628863660.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:40.385Z,1628863660.385 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:40.386Z,1628863660.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:40.387Z,1628863660.387 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:40.789Z,1628863660.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03C,000,006F8,184,80,80,94,FF 2021-08-13T14:07:40.789Z,1628863660.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:40.789Z,1628863660.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:40.791Z,1628863660.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:41.201Z,1628863661.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:41.598Z,1628863661.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,006D1,186,80,80,C3,FF 2021-08-13T14:07:41.598Z,1628863661.598 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:42.048Z,1628863662.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140742.31*58 2021-08-13T14:07:42.102Z,1628863662.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 225.589277 deg, deltaT: 4.431396 s, approachRate: -0.528051 m/s, LOS rate: -0.024217 deg/s, posRepo size: 4 2021-08-13T14:07:42.104Z,1628863662.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 67.199997 m, bearing: 225.589277 deg, approachRate: -0.528051 m/s, LOS rate: -0.024217 deg/s, cmd update: -0.072652 deg/s, cmd heading: 224.586388 deg, new cmd heading: 223.805135 deg. 2021-08-13T14:07:44.490Z,1628863664.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:44.886Z,1628863664.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:44.886Z,1628863664.886 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:44.886Z,1628863664.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:44.887Z,1628863664.887 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:45.237Z,1628863665.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 07F,000,006D1,186,80,80,C3,FF 2021-08-13T14:07:45.237Z,1628863665.237 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:45.237Z,1628863665.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:45.239Z,1628863665.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:45.271Z,1628863665.271 [CTD_Seabird](ERROR): Failed to parse device response: 5.94,23.8172,4.757.83 2021-08-13T14:07:45.716Z,1628863665.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:46.109Z,1628863666.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,006AA,183,80,80,B5,FF 2021-08-13T14:07:46.110Z,1628863666.110 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:46.501Z,1628863666.501 [Micromodem](INFO): Nmea in: $SNTTA,0.049912,,,,140746.77*47 2021-08-13T14:07:46.539Z,1628863666.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.860008 m, bearing: 227.610371 deg, deltaT: 4.579036 s, approachRate: -0.511022 m/s, LOS rate: 0.441380 deg/s, posRepo size: 4 2021-08-13T14:07:46.541Z,1628863666.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 64.860008 m, bearing: 227.610371 deg, approachRate: -0.511022 m/s, LOS rate: 0.441380 deg/s, cmd update: 1.324139 deg/s, cmd heading: 224.254356 deg, new cmd heading: 224.229460 deg. 2021-08-13T14:07:48.905Z,1628863668.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:49.277Z,1628863669.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:49.277Z,1628863669.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:49.277Z,1628863669.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:49.278Z,1628863669.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:49.673Z,1628863669.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,006AA,183,80,80,B5,FF 2021-08-13T14:07:49.673Z,1628863669.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:49.673Z,1628863669.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:49.675Z,1628863669.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:50.101Z,1628863670.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:50.513Z,1628863670.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00683,183,80,80,AA,FF 2021-08-13T14:07:50.513Z,1628863670.513 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:50.933Z,1628863670.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140751.20*5A 2021-08-13T14:07:50.956Z,1628863670.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 227.697224 deg, deltaT: 4.335992 s, approachRate: -0.539671 m/s, LOS rate: 0.020031 deg/s, posRepo size: 4 2021-08-13T14:07:50.958Z,1628863670.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 62.520000 m, bearing: 227.697224 deg, approachRate: -0.539671 m/s, LOS rate: 0.020031 deg/s, cmd update: 0.060092 deg/s, cmd heading: 230.007265 deg, new cmd heading: 230.556879 deg. 2021-08-13T14:07:53.344Z,1628863673.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:53.713Z,1628863673.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:53.713Z,1628863673.713 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:53.713Z,1628863673.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:53.714Z,1628863673.714 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:54.137Z,1628863674.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 009,000,00683,183,80,80,AA,FF 2021-08-13T14:07:54.137Z,1628863674.137 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:54.137Z,1628863674.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:54.139Z,1628863674.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:54.536Z,1628863674.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:54.949Z,1628863674.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,00658,187,80,80,BA,FF 2021-08-13T14:07:54.949Z,1628863674.949 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:55.381Z,1628863675.381 [Micromodem](INFO): Nmea in: $SNTTA,0.047917,,,,140755.66*4E 2021-08-13T14:07:55.404Z,1628863675.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 226.687968 deg, deltaT: 4.425281 s, approachRate: -0.583013 m/s, LOS rate: -0.228066 deg/s, posRepo size: 4 2021-08-13T14:07:55.406Z,1628863675.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.940006 m, bearing: 226.687968 deg, approachRate: -0.583013 m/s, LOS rate: -0.228066 deg/s, cmd update: -0.684198 deg/s, cmd heading: 230.273196 deg, new cmd heading: 230.299488 deg. 2021-08-13T14:07:57.801Z,1628863677.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:07:58.170Z,1628863678.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:07:58.170Z,1628863678.170 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:07:58.170Z,1628863678.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:07:58.171Z,1628863678.171 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:07:58.629Z,1628863678.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 066,000,00658,187,80,80,BA,FF 2021-08-13T14:07:58.629Z,1628863678.629 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:07:58.629Z,1628863678.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:07:58.631Z,1628863678.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:07:59.105Z,1628863679.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:07:59.420Z,1628863679.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00631,186,80,80,AF,FF 2021-08-13T14:07:59.421Z,1628863679.421 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:07:59.823Z,1628863679.823 [Micromodem](INFO): Nmea in: $SNTTA,,0.043012,,,140800.15*4D 2021-08-13T14:07:59.870Z,1628863679.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 226.085614 deg, deltaT: 4.535408 s, approachRate: -0.515941 m/s, LOS rate: -0.132812 deg/s, posRepo size: 4 2021-08-13T14:07:59.873Z,1628863679.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 57.600002 m, bearing: 226.085614 deg, approachRate: -0.515941 m/s, LOS rate: -0.132812 deg/s, cmd update: -0.398435 deg/s, cmd heading: 227.177495 deg, new cmd heading: 226.919076 deg. 2021-08-13T14:08:02.271Z,1628863682.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:02.601Z,1628863682.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:02.601Z,1628863682.601 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:02.601Z,1628863682.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:02.602Z,1628863682.602 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:03.010Z,1628863683.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06D,000,00631,186,80,80,AF,FF 2021-08-13T14:08:03.010Z,1628863683.010 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:03.011Z,1628863683.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:03.013Z,1628863683.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:03.425Z,1628863683.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:03.832Z,1628863683.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,0060C,183,80,80,8E,FF 2021-08-13T14:08:03.832Z,1628863683.832 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:04.242Z,1628863684.242 [Micromodem](INFO): Nmea in: $SNTTA,0.405062,0.405005,,,140804.54*57 2021-08-13T14:08:04.278Z,1628863684.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.379993 m, bearing: 228.481740 deg, deltaT: 4.406990 s, approachRate: -0.503747 m/s, LOS rate: 0.543710 deg/s, posRepo size: 4 2021-08-13T14:08:04.280Z,1628863684.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 55.379993 m, bearing: 228.481740 deg, approachRate: -0.503747 m/s, LOS rate: 0.543710 deg/s, cmd update: 1.631131 deg/s, cmd heading: 225.418876 deg, new cmd heading: 225.270148 deg. 2021-08-13T14:08:06.702Z,1628863686.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:07.051Z,1628863687.051 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:07.051Z,1628863687.051 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:07.051Z,1628863687.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:07.053Z,1628863687.053 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:07.476Z,1628863687.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 018,000,0060C,183,80,80,8E,FF 2021-08-13T14:08:07.476Z,1628863687.476 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:07.476Z,1628863687.476 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:07.478Z,1628863687.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:07.865Z,1628863687.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:08.269Z,1628863688.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,005E5,182,80,80,9B,FF 2021-08-13T14:08:08.270Z,1628863688.270 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:08.273Z,1628863688.273 [Micromodem](INFO): Nmea in: $SNTTA,0.055283,0.172465,,,140809.00*50 2021-08-13T14:08:08.752Z,1628863688.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 228.472382 deg, deltaT: 4.437501 s, approachRate: -0.527322 m/s, LOS rate: -0.002109 deg/s, posRepo size: 4 2021-08-13T14:08:08.754Z,1628863688.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.040001 m, bearing: 228.472382 deg, approachRate: -0.527322 m/s, LOS rate: -0.002109 deg/s, cmd update: -0.006326 deg/s, cmd heading: 232.657070 deg, new cmd heading: 233.319185 deg. 2021-08-13T14:08:11.126Z,1628863691.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:11.526Z,1628863691.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:11.526Z,1628863691.526 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:11.526Z,1628863691.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:11.527Z,1628863691.527 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:11.986Z,1628863691.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 001,000,005E5,182,80,80,9B,FF 2021-08-13T14:08:11.986Z,1628863691.986 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:11.987Z,1628863691.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:11.991Z,1628863691.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:12.321Z,1628863692.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:12.794Z,1628863692.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,005B9,186,80,80,77,FF 2021-08-13T14:08:12.795Z,1628863692.795 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:13.207Z,1628863693.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 225.373908 deg, deltaT: 4.507233 s, approachRate: -0.585724 m/s, LOS rate: -0.687445 deg/s, posRepo size: 4 2021-08-13T14:08:13.214Z,1628863693.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.400005 m, bearing: 225.373908 deg, approachRate: -0.585724 m/s, LOS rate: -0.687445 deg/s, cmd update: -2.062335 deg/s, cmd heading: 232.628710 deg, new cmd heading: 232.626291 deg. 2021-08-13T14:08:13.549Z,1628863693.549 [Micromodem](INFO): Nmea in: $SNTTA,0.141090,,,,140813.51*46 2021-08-13T14:08:15.558Z,1628863695.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:15.945Z,1628863695.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:15.945Z,1628863695.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:15.945Z,1628863695.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:15.946Z,1628863695.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:16.337Z,1628863696.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 098,000,005B9,186,80,80,77,FF 2021-08-13T14:08:16.338Z,1628863696.338 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:16.338Z,1628863696.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:16.339Z,1628863696.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:16.793Z,1628863696.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:17.189Z,1628863697.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00590,186,80,80,AD,FF 2021-08-13T14:08:17.189Z,1628863697.189 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:17.601Z,1628863697.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140817.86*5B 2021-08-13T14:08:17.653Z,1628863697.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.940006 m, bearing: 225.272562 deg, deltaT: 4.353085 s, approachRate: -0.565116 m/s, LOS rate: -0.023282 deg/s, posRepo size: 4 2021-08-13T14:08:17.656Z,1628863697.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.940006 m, bearing: 225.272562 deg, approachRate: -0.565116 m/s, LOS rate: -0.023282 deg/s, cmd update: -0.069845 deg/s, cmd heading: 223.592931 deg, new cmd heading: 222.715830 deg. 2021-08-13T14:08:20.130Z,1628863700.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:20.417Z,1628863700.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:20.417Z,1628863700.417 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:20.417Z,1628863700.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:20.418Z,1628863700.418 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:20.829Z,1628863700.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 09D,000,00590,186,80,80,AD,FF 2021-08-13T14:08:20.830Z,1628863700.830 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:20.830Z,1628863700.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:20.831Z,1628863700.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:21.233Z,1628863701.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:21.637Z,1628863701.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00566,182,80,80,A8,FF 2021-08-13T14:08:21.638Z,1628863701.638 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:22.097Z,1628863702.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140822.36*56 2021-08-13T14:08:22.161Z,1628863702.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 227.122300 deg, deltaT: 4.470787 s, approachRate: -0.563661 m/s, LOS rate: 0.413739 deg/s, posRepo size: 4 2021-08-13T14:08:22.163Z,1628863702.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 45.419998 m, bearing: 227.122300 deg, approachRate: -0.563661 m/s, LOS rate: 0.413739 deg/s, cmd update: 1.241216 deg/s, cmd heading: 223.282089 deg, new cmd heading: 223.247176 deg. 2021-08-13T14:08:24.187Z,1628863704.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:24.493Z,1628863704.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:24.493Z,1628863704.493 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:24.493Z,1628863704.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:24.494Z,1628863704.494 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:24.866Z,1628863704.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 004,000,00566,182,80,80,A8,FF 2021-08-13T14:08:24.866Z,1628863704.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:24.866Z,1628863704.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:24.869Z,1628863704.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:25.332Z,1628863705.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:25.677Z,1628863705.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00542,185,80,80,9B,FF 2021-08-13T14:08:25.678Z,1628863705.678 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:26.186Z,1628863706.186 [Micromodem](INFO): Nmea in: $SNTTA,0.475336,0.475829,,,140826.40*56 2021-08-13T14:08:26.308Z,1628863706.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 228.207371 deg, deltaT: 4.078781 s, approachRate: -0.529570 m/s, LOS rate: 0.266028 deg/s, posRepo size: 4 2021-08-13T14:08:26.319Z,1628863706.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.259998 m, bearing: 228.207371 deg, approachRate: -0.529570 m/s, LOS rate: 0.266028 deg/s, cmd update: 0.798085 deg/s, cmd heading: 228.346566 deg, new cmd heading: 229.054813 deg. 2021-08-13T14:08:28.550Z,1628863708.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:28.905Z,1628863708.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:28.905Z,1628863708.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:28.905Z,1628863708.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:28.906Z,1628863708.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:29.305Z,1628863709.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCB,000,00542,185,80,80,9B,FF 2021-08-13T14:08:29.305Z,1628863709.305 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:29.305Z,1628863709.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:29.307Z,1628863709.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:29.724Z,1628863709.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:30.121Z,1628863710.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00519,184,80,80,78,FF 2021-08-13T14:08:30.122Z,1628863710.122 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:30.569Z,1628863710.569 [Micromodem](INFO): Nmea in: $SNTTA,,0.298893,,,140830.83*44 2021-08-13T14:08:30.614Z,1628863710.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 225.497097 deg, deltaT: 4.425751 s, approachRate: -0.555838 m/s, LOS rate: -0.612387 deg/s, posRepo size: 4 2021-08-13T14:08:30.617Z,1628863710.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 40.799999 m, bearing: 225.497097 deg, approachRate: -0.555838 m/s, LOS rate: -0.612387 deg/s, cmd update: -1.837162 deg/s, cmd heading: 231.877766 deg, new cmd heading: 232.239200 deg. 2021-08-13T14:08:32.967Z,1628863712.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:33.349Z,1628863713.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:33.349Z,1628863713.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:33.350Z,1628863713.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:33.350Z,1628863713.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:33.757Z,1628863713.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 053,000,00519,184,80,80,78,FF 2021-08-13T14:08:33.757Z,1628863713.757 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:33.757Z,1628863713.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:33.759Z,1628863713.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:34.156Z,1628863714.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:34.561Z,1628863714.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,004F5,186,80,80,8A,FF 2021-08-13T14:08:34.562Z,1628863714.562 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:34.997Z,1628863714.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140835.28*5F 2021-08-13T14:08:35.027Z,1628863715.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 225.267671 deg, deltaT: 4.431733 s, approachRate: -0.487394 m/s, LOS rate: -0.051769 deg/s, posRepo size: 4 2021-08-13T14:08:35.027Z,1628863715.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.64 m. 2021-08-13T14:08:35.030Z,1628863715.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.639999 m, bearing: 225.267671 deg, approachRate: -0.487394 m/s, LOS rate: -0.051769 deg/s, cmd update: -0.155307 deg/s, cmd heading: 223.744944 deg, new cmd heading: 222.939558 deg. 2021-08-13T14:08:35.414Z,1628863715.414 [PowerOnly](INFO): Powering up loadControl 2021-08-13T14:08:35.495Z,1628863715.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T14:08:35.495Z,1628863715.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:08:35.495Z,1628863715.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T14:08:35.501Z,1628863715.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T14:08:35.502Z,1628863715.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T14:08:35.502Z,1628863715.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T14:08:35.839Z,1628863715.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T14:08:35.839Z,1628863715.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:08:35.839Z,1628863715.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T14:08:35.840Z,1628863715.840 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:08:37.416Z,1628863717.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:37.797Z,1628863717.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:37.797Z,1628863717.797 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:37.797Z,1628863717.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:37.798Z,1628863717.798 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:38.205Z,1628863718.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 081,000,004F5,186,80,80,8A,FF 2021-08-13T14:08:38.205Z,1628863718.205 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:38.205Z,1628863718.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:38.207Z,1628863718.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:38.760Z,1628863718.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:39.045Z,1628863719.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,004CC,182,80,80,A8,FF 2021-08-13T14:08:39.046Z,1628863719.046 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:39.095Z,1628863719.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:08:39.581Z,1628863719.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140839.73*5D 2021-08-13T14:08:39.638Z,1628863719.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 224.514930 deg, deltaT: 4.478985 s, approachRate: -0.549231 m/s, LOS rate: -0.168061 deg/s, posRepo size: 4 2021-08-13T14:08:39.638Z,1628863719.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.18 m. 2021-08-13T14:08:39.641Z,1628863719.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.180000 m, bearing: 224.514930 deg, approachRate: -0.549231 m/s, LOS rate: -0.168061 deg/s, cmd update: -0.504182 deg/s, cmd heading: 223.046188 deg, new cmd heading: 222.960873 deg. 2021-08-13T14:08:41.898Z,1628863721.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:42.265Z,1628863722.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:42.265Z,1628863722.265 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:42.265Z,1628863722.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:42.266Z,1628863722.266 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:42.666Z,1628863722.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFE,000,004CC,182,80,80,A8,FF 2021-08-13T14:08:42.666Z,1628863722.666 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:42.666Z,1628863722.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:42.668Z,1628863722.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:43.144Z,1628863723.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:43.493Z,1628863723.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,004A9,185,80,80,A1,FF 2021-08-13T14:08:43.493Z,1628863723.493 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:43.528Z,1628863723.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:08:44.058Z,1628863724.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140844.19*5B 2021-08-13T14:08:44.105Z,1628863724.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 227.078819 deg, deltaT: 4.432879 s, approachRate: -0.473733 m/s, LOS rate: 0.578380 deg/s, posRepo size: 4 2021-08-13T14:08:44.105Z,1628863724.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.08 m. 2021-08-13T14:08:44.107Z,1628863724.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.079998 m, bearing: 227.078819 deg, approachRate: -0.473733 m/s, LOS rate: 0.578380 deg/s, cmd update: 1.735140 deg/s, cmd heading: 220.809234 deg, new cmd heading: 220.516882 deg. 2021-08-13T14:08:46.331Z,1628863726.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:46.705Z,1628863726.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:46.705Z,1628863726.705 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:46.706Z,1628863726.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:46.707Z,1628863726.707 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:47.101Z,1628863727.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDA,000,004A9,185,80,80,A1,FF 2021-08-13T14:08:47.101Z,1628863727.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:47.101Z,1628863727.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:47.103Z,1628863727.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:47.525Z,1628863727.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:47.913Z,1628863727.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00484,184,80,80,A1,FF 2021-08-13T14:08:47.913Z,1628863727.913 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:47.939Z,1628863727.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:08:48.354Z,1628863728.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140848.63*5A 2021-08-13T14:08:48.425Z,1628863728.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 227.155426 deg, deltaT: 4.411191 s, approachRate: -0.503266 m/s, LOS rate: 0.017367 deg/s, posRepo size: 4 2021-08-13T14:08:48.426Z,1628863728.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.86 m. 2021-08-13T14:08:48.428Z,1628863728.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.859997 m, bearing: 227.155426 deg, approachRate: -0.503266 m/s, LOS rate: 0.017367 deg/s, cmd update: 0.052100 deg/s, cmd heading: 228.463721 deg, new cmd heading: 229.303232 deg. 2021-08-13T14:08:50.774Z,1628863730.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:51.141Z,1628863731.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:51.141Z,1628863731.141 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:51.141Z,1628863731.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:51.142Z,1628863731.142 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:51.549Z,1628863731.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD6,000,00484,184,80,80,A1,FF 2021-08-13T14:08:51.549Z,1628863731.549 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:51.549Z,1628863731.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:51.551Z,1628863731.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:52.062Z,1628863732.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:52.485Z,1628863732.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,0045F,185,80,80,B2,FF 2021-08-13T14:08:52.485Z,1628863732.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:52.557Z,1628863732.557 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:08:52.878Z,1628863732.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140853.08*5D 2021-08-13T14:08:52.907Z,1628863732.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.639999 m, bearing: 225.811026 deg, deltaT: 4.618513 s, approachRate: -0.480674 m/s, LOS rate: -0.291089 deg/s, posRepo size: 4 2021-08-13T14:08:52.928Z,1628863732.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.64 m. 2021-08-13T14:08:52.928Z,1628863732.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.64 m. 2021-08-13T14:08:52.929Z,1628863732.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T14:08:52.931Z,1628863732.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.639999 m, bearing: 225.811026 deg, approachRate: -0.480674 m/s, LOS rate: -0.291089 deg/s, cmd update: -0.873268 deg/s, cmd heading: 228.703423 deg, new cmd heading: 228.722721 deg. 2021-08-13T14:08:55.203Z,1628863735.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:08:55.593Z,1628863735.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:08:55.593Z,1628863735.593 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:08:55.593Z,1628863735.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:08:55.593Z,1628863735.593 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:08:56.012Z,1628863736.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02A,000,0045F,185,80,80,B2,FF 2021-08-13T14:08:56.013Z,1628863736.013 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:08:56.013Z,1628863736.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:08:56.019Z,1628863736.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:08:56.401Z,1628863736.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:08:56.802Z,1628863736.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00439,184,80,80,72,FF 2021-08-13T14:08:56.802Z,1628863736.802 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:08:56.827Z,1628863736.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:08:57.225Z,1628863737.225 [Micromodem](INFO): Nmea in: $SNTTA,0.104658,,,,140857.54*40 2021-08-13T14:08:57.264Z,1628863737.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 224.194812 deg, deltaT: 4.269045 s, approachRate: -0.534077 m/s, LOS rate: -0.378589 deg/s, posRepo size: 4 2021-08-13T14:08:57.266Z,1628863737.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.359999 m, bearing: 224.194812 deg, approachRate: -0.534077 m/s, LOS rate: -0.378589 deg/s, cmd update: -1.135767 deg/s, cmd heading: 224.959862 deg, new cmd heading: 224.578913 deg. 2021-08-13T14:08:59.655Z,1628863739.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:00.058Z,1628863740.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:00.058Z,1628863740.058 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:00.058Z,1628863740.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:00.059Z,1628863740.059 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:00.429Z,1628863740.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 042,000,00439,184,80,80,72,FF 2021-08-13T14:09:00.429Z,1628863740.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:00.429Z,1628863740.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:00.431Z,1628863740.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:00.837Z,1628863740.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:01.242Z,1628863741.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00410,183,80,80,7E,FF 2021-08-13T14:09:01.242Z,1628863741.242 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:01.267Z,1628863741.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:01.681Z,1628863741.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140901.96*5C 2021-08-13T14:09:01.721Z,1628863741.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 224.445603 deg, deltaT: 4.440338 s, approachRate: -0.554012 m/s, LOS rate: 0.056480 deg/s, posRepo size: 4 2021-08-13T14:09:01.723Z,1628863741.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.900000 m, bearing: 224.445603 deg, approachRate: -0.554012 m/s, LOS rate: 0.056480 deg/s, cmd update: 0.169440 deg/s, cmd heading: 219.916907 deg, new cmd heading: 219.397606 deg. 2021-08-13T14:09:04.147Z,1628863744.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:04.501Z,1628863744.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:04.501Z,1628863744.501 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:04.501Z,1628863744.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:04.502Z,1628863744.502 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:04.953Z,1628863744.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 010,000,00410,183,80,80,7E,FF 2021-08-13T14:09:04.953Z,1628863744.953 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:04.953Z,1628863744.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:04.955Z,1628863744.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:05.317Z,1628863745.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:05.705Z,1628863745.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,003EB,187,80,80,94,FF 2021-08-13T14:09:05.705Z,1628863745.705 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:05.787Z,1628863745.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:06.284Z,1628863746.284 [DDM](ERROR): Could not parse whisker state 2021-08-13T14:09:06.303Z,1628863746.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140906.48*58 2021-08-13T14:09:06.339Z,1628863746.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 227.244997 deg, deltaT: 4.524155 s, approachRate: -0.490700 m/s, LOS rate: 0.618766 deg/s, posRepo size: 4 2021-08-13T14:09:06.342Z,1628863746.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.679996 m, bearing: 227.244997 deg, approachRate: -0.490700 m/s, LOS rate: 0.618766 deg/s, cmd update: 1.856299 deg/s, cmd heading: 220.682894 deg, new cmd heading: 220.776925 deg. 2021-08-13T14:09:08.639Z,1628863748.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:08.977Z,1628863748.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:08.977Z,1628863748.977 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:08.977Z,1628863748.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:08.978Z,1628863748.978 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:09.381Z,1628863749.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8D,000,003EB,187,80,80,94,FF 2021-08-13T14:09:09.381Z,1628863749.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:09.381Z,1628863749.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:09.383Z,1628863749.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:09.797Z,1628863749.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:10.197Z,1628863750.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,003C5,184,80,80,A7,FF 2021-08-13T14:09:10.197Z,1628863750.197 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:10.263Z,1628863750.263 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:10.633Z,1628863750.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140910.91*5B 2021-08-13T14:09:10.690Z,1628863750.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 227.565278 deg, deltaT: 4.472585 s, approachRate: -0.509771 m/s, LOS rate: 0.071610 deg/s, posRepo size: 4 2021-08-13T14:09:10.704Z,1628863750.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.400002 m, bearing: 227.565278 deg, approachRate: -0.509771 m/s, LOS rate: 0.071610 deg/s, cmd update: 0.214830 deg/s, cmd heading: 228.991797 deg, new cmd heading: 229.785177 deg. 2021-08-13T14:09:13.043Z,1628863753.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:13.431Z,1628863753.431 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:13.431Z,1628863753.431 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:13.431Z,1628863753.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:13.432Z,1628863753.432 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:13.825Z,1628863753.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA6,000,003C5,184,80,80,A7,FF 2021-08-13T14:09:13.825Z,1628863753.825 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:13.825Z,1628863753.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:13.827Z,1628863753.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:14.233Z,1628863754.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:14.637Z,1628863754.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,0039F,186,80,80,85,FF 2021-08-13T14:09:14.638Z,1628863754.638 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:14.708Z,1628863754.708 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:15.077Z,1628863755.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140915.35*50 2021-08-13T14:09:15.100Z,1628863755.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 227.489586 deg, deltaT: 4.444561 s, approachRate: -0.512987 m/s, LOS rate: -0.017030 deg/s, posRepo size: 4 2021-08-13T14:09:15.102Z,1628863755.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.120001 m, bearing: 227.489586 deg, approachRate: -0.512987 m/s, LOS rate: -0.017030 deg/s, cmd update: -0.051091 deg/s, cmd heading: 229.944902 deg, new cmd heading: 230.031468 deg. 2021-08-13T14:09:15.482Z,1628863755.482 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:09:17.525Z,1628863757.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:17.874Z,1628863757.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:17.874Z,1628863757.874 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:17.874Z,1628863757.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:17.875Z,1628863757.875 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:18.269Z,1628863758.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06F,000,0039F,186,80,80,85,FF 2021-08-13T14:09:18.269Z,1628863758.269 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:18.269Z,1628863758.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:18.271Z,1628863758.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:18.752Z,1628863758.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:19.089Z,1628863759.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00385,183,80,80,9F,FF 2021-08-13T14:09:19.089Z,1628863759.089 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:19.142Z,1628863759.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:19.544Z,1628863759.544 [Micromodem](INFO): Nmea in: $SNTTA,0.132555,,,,140919.80*49 2021-08-13T14:09:19.595Z,1628863759.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 230.448861 deg, deltaT: 4.433356 s, approachRate: -0.351878 m/s, LOS rate: 0.667502 deg/s, posRepo size: 4 2021-08-13T14:09:19.597Z,1628863759.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.559999 m, bearing: 230.448861 deg, approachRate: -0.351878 m/s, LOS rate: 0.667502 deg/s, cmd update: 2.002507 deg/s, cmd heading: 229.718185 deg, new cmd heading: 229.694657 deg. 2021-08-13T14:09:21.931Z,1628863761.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:22.309Z,1628863762.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:22.309Z,1628863762.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:22.309Z,1628863762.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:22.310Z,1628863762.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:22.729Z,1628863762.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFF,000,00385,183,80,80,9F,FF 2021-08-13T14:09:22.729Z,1628863762.729 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:22.729Z,1628863762.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:22.730Z,1628863762.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:23.124Z,1628863763.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:23.517Z,1628863763.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00352,183,80,80,A1,FF 2021-08-13T14:09:23.518Z,1628863763.518 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:23.549Z,1628863763.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:23.965Z,1628863763.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140924.25*53 2021-08-13T14:09:24.060Z,1628863764.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 228.995998 deg, deltaT: 4.407024 s, approachRate: -0.694346 m/s, LOS rate: -0.329670 deg/s, posRepo size: 4 2021-08-13T14:09:24.062Z,1628863764.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.500002 m, bearing: 228.995998 deg, approachRate: -0.694346 m/s, LOS rate: -0.329670 deg/s, cmd update: -0.989010 deg/s, cmd heading: 238.551228 deg, new cmd heading: 239.556995 deg. 2021-08-13T14:09:26.084Z,1628863766.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:26.389Z,1628863766.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:26.389Z,1628863766.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:26.389Z,1628863766.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:26.390Z,1628863766.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:26.802Z,1628863766.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 058,000,00352,183,80,80,A1,FF 2021-08-13T14:09:26.802Z,1628863766.802 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:26.802Z,1628863766.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:26.804Z,1628863766.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:27.196Z,1628863767.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:27.601Z,1628863767.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00331,186,80,80,A9,FF 2021-08-13T14:09:27.602Z,1628863767.602 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:27.660Z,1628863767.660 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:28.073Z,1628863768.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140928.33*58 2021-08-13T14:09:28.134Z,1628863768.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 223.189805 deg, deltaT: 4.111623 s, approachRate: -0.481562 m/s, LOS rate: -1.412142 deg/s, posRepo size: 4 2021-08-13T14:09:28.136Z,1628863768.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.520001 m, bearing: 223.189805 deg, approachRate: -0.481562 m/s, LOS rate: -1.412142 deg/s, cmd update: -4.236424 deg/s, cmd heading: 234.512770 deg, new cmd heading: 234.013444 deg. 2021-08-13T14:09:30.496Z,1628863770.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:30.841Z,1628863770.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:30.841Z,1628863770.841 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:30.841Z,1628863770.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:30.842Z,1628863770.842 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:31.258Z,1628863771.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 161,000,00331,186,80,80,A9,FF 2021-08-13T14:09:31.258Z,1628863771.258 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:31.258Z,1628863771.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:31.260Z,1628863771.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:31.644Z,1628863771.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:32.097Z,1628863772.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,0031F,187,80,80,A0,FF 2021-08-13T14:09:32.097Z,1628863772.097 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:32.139Z,1628863772.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:32.637Z,1628863772.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140932.79*5D 2021-08-13T14:09:32.696Z,1628863772.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 225.734446 deg, deltaT: 4.507474 s, approachRate: -0.239603 m/s, LOS rate: 0.564538 deg/s, posRepo size: 4 2021-08-13T14:09:32.698Z,1628863772.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.439999 m, bearing: 225.734446 deg, approachRate: -0.239603 m/s, LOS rate: 0.564538 deg/s, cmd update: 1.693615 deg/s, cmd heading: 215.423823 deg, new cmd heading: 213.064113 deg. 2021-08-13T14:09:34.948Z,1628863774.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:35.330Z,1628863775.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:35.330Z,1628863775.330 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:35.330Z,1628863775.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:35.331Z,1628863775.331 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:35.728Z,1628863775.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 079,000,0031F,187,80,80,A0,FF 2021-08-13T14:09:35.729Z,1628863775.729 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:35.729Z,1628863775.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:35.730Z,1628863775.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:36.143Z,1628863776.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:36.536Z,1628863776.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,002EC,186,80,80,BE,FF 2021-08-13T14:09:36.537Z,1628863776.537 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:36.615Z,1628863776.615 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:36.987Z,1628863776.987 [Micromodem](INFO): Nmea in: $SNTTA,0.114939,,,,140937.26*4B 2021-08-13T14:09:37.008Z,1628863777.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 225.324608 deg, deltaT: 4.451861 s, approachRate: -0.687353 m/s, LOS rate: -0.092060 deg/s, posRepo size: 4 2021-08-13T14:09:37.010Z,1628863777.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.380000 m, bearing: 225.324608 deg, approachRate: -0.687353 m/s, LOS rate: -0.092060 deg/s, cmd update: -0.276180 deg/s, cmd heading: 223.000211 deg, new cmd heading: 223.676786 deg. 2021-08-13T14:09:39.423Z,1628863779.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:39.789Z,1628863779.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:39.789Z,1628863779.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:39.789Z,1628863779.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:39.790Z,1628863779.790 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:40.189Z,1628863780.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F35,000,002EC,186,80,80,BE,FF 2021-08-13T14:09:40.189Z,1628863780.189 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:40.189Z,1628863780.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:40.191Z,1628863780.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:40.601Z,1628863780.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:40.981Z,1628863780.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,002D0,183,80,80,BB,FF 2021-08-13T14:09:40.982Z,1628863780.982 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:41.026Z,1628863781.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:41.409Z,1628863781.409 [Micromodem](INFO): Nmea in: $SNTTA,0.093840,,,,140941.71*49 2021-08-13T14:09:41.481Z,1628863781.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 222.078137 deg, deltaT: 4.406465 s, approachRate: -0.381258 m/s, LOS rate: -0.736752 deg/s, posRepo size: 4 2021-08-13T14:09:41.483Z,1628863781.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.699999 m, bearing: 222.078137 deg, approachRate: -0.381258 m/s, LOS rate: -0.736752 deg/s, cmd update: -2.210255 deg/s, cmd heading: 221.787581 deg, new cmd heading: 221.660019 deg. 2021-08-13T14:09:43.881Z,1628863783.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:44.213Z,1628863784.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:44.214Z,1628863784.214 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:44.214Z,1628863784.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:44.215Z,1628863784.215 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:44.620Z,1628863784.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 011,000,002D0,183,80,80,BB,FF 2021-08-13T14:09:44.621Z,1628863784.621 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:44.621Z,1628863784.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:44.622Z,1628863784.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:45.081Z,1628863785.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:45.403Z,1628863785.403 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-08-13T14:09:45.406Z,1628863785.406 [BPC1](INFO): Received data from all battery sticks. 2021-08-13T14:09:45.453Z,1628863785.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,002BE,189,80,80,77,FF 2021-08-13T14:09:45.454Z,1628863785.454 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:45.543Z,1628863785.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:45.874Z,1628863785.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140946.15*54 2021-08-13T14:09:45.914Z,1628863785.914 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-08-13T14:09:45.914Z,1628863785.914 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-08-13T14:09:45.914Z,1628863785.914 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-08-13T14:09:45.914Z,1628863785.914 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:09:45.915Z,1628863785.915 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-08-13T14:09:45.915Z,1628863785.915 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 2021-08-13T14:09:45.915Z,1628863785.915 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-08-13T14:09:45.915Z,1628863785.915 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-08-13T14:09:45.915Z,1628863785.915 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-08-13T14:09:45.918Z,1628863785.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 257.290084 deg, deltaT: 4.516921 s, approachRate: -0.239101 m/s, LOS rate: 7.795564 deg/s, posRepo size: 4 2021-08-13T14:09:45.920Z,1628863785.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 257.290084 deg, approachRate: -0.239101 m/s, LOS rate: 7.795564 deg/s, cmd update: 12.000000 deg/s, cmd heading: 211.768791 deg, new cmd heading: 210.914739 deg. 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T140946: (41.552319, -70.708603) 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-08-13T14:09:46.299Z,1628863786.299 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-08-13T14:09:46.300Z,1628863786.300 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-08-13T14:09:46.672Z,1628863786.672 [UniversalFixResidualReporter](INFO): Fix residual: 0.6 %DT, over the last 708.1 m. Residual distance 4.2 m at bearing 109.1 degrees. Fix at (41.5510, -70.7055) with 0.0 m made good. 2021-08-13T14:09:48.303Z,1628863788.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:48.664Z,1628863788.664 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:48.664Z,1628863788.664 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:48.664Z,1628863788.664 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:48.665Z,1628863788.665 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:49.058Z,1628863789.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D92,000,002BE,189,80,80,77,FF 2021-08-13T14:09:49.058Z,1628863789.058 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:49.058Z,1628863789.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:49.059Z,1628863789.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:49.500Z,1628863789.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:49.866Z,1628863789.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,002BE,187,80,80,9A,FF 2021-08-13T14:09:49.867Z,1628863789.867 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:49.927Z,1628863789.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:50.301Z,1628863790.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140950.58*5A 2021-08-13T14:09:50.356Z,1628863790.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 221.550532 deg, deltaT: 4.383822 s, approachRate: 0.000000 m/s, LOS rate: -8.152601 deg/s, posRepo size: 4 2021-08-13T14:09:50.358Z,1628863790.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.619999 m, bearing: 221.550532 deg, approachRate: 0.000000 m/s, LOS rate: -8.152601 deg/s, cmd update: -12.000000 deg/s, cmd heading: 264.401908 deg, new cmd heading: 269.657668 deg. 2021-08-13T14:09:52.737Z,1628863792.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:53.097Z,1628863793.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:53.097Z,1628863793.097 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:53.097Z,1628863793.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:53.098Z,1628863793.098 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:53.533Z,1628863793.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F40,000,002BE,187,80,80,9A,FF 2021-08-13T14:09:53.533Z,1628863793.533 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:53.533Z,1628863793.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:53.535Z,1628863793.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:53.918Z,1628863793.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:54.325Z,1628863794.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,002D4,183,80,80,B7,FF 2021-08-13T14:09:54.325Z,1628863794.325 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:54.399Z,1628863794.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:54.731Z,1628863794.731 [Micromodem](INFO): Nmea in: $SNTTA,0.021809,,,,140955.06*48 2021-08-13T14:09:54.777Z,1628863794.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 225.404056 deg, deltaT: 4.471796 s, approachRate: 0.295184 m/s, LOS rate: 0.861740 deg/s, posRepo size: 4 2021-08-13T14:09:54.779Z,1628863794.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.940001 m, bearing: 225.404056 deg, approachRate: 0.295184 m/s, LOS rate: 0.861740 deg/s, cmd update: 2.585219 deg/s, cmd heading: 210.670502 deg, new cmd heading: 206.097518 deg. 2021-08-13T14:09:57.157Z,1628863797.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:09:57.554Z,1628863797.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:09:57.554Z,1628863797.554 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:09:57.555Z,1628863797.555 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:09:57.556Z,1628863797.556 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:09:57.949Z,1628863797.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE7,000,002D4,183,80,80,B7,FF 2021-08-13T14:09:57.949Z,1628863797.949 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:09:57.949Z,1628863797.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:09:57.951Z,1628863797.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:09:58.365Z,1628863798.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:09:58.753Z,1628863798.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00309,186,80,80,73,FF 2021-08-13T14:09:58.753Z,1628863798.753 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:09:58.830Z,1628863798.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:09:59.195Z,1628863799.195 [Micromodem](INFO): Nmea in: $SNTTA,0.009258,,,,140959.47*45 2021-08-13T14:09:59.213Z,1628863799.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 217.206040 deg, deltaT: 4.431508 s, approachRate: 0.717589 m/s, LOS rate: -1.849938 deg/s, posRepo size: 4 2021-08-13T14:09:59.215Z,1628863799.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.120000 m, bearing: 217.206040 deg, approachRate: 0.717589 m/s, LOS rate: -1.849938 deg/s, cmd update: -5.549815 deg/s, cmd heading: 222.116365 deg, new cmd heading: 223.124657 deg. 2021-08-13T14:10:01.664Z,1628863801.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:01.993Z,1628863801.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:01.993Z,1628863801.993 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:01.994Z,1628863801.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:01.995Z,1628863801.995 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:02.390Z,1628863802.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18D,000,00309,186,80,80,73,FF 2021-08-13T14:10:02.390Z,1628863802.390 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:02.390Z,1628863802.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:02.393Z,1628863802.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:02.805Z,1628863802.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:03.198Z,1628863803.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00326,186,80,80,78,FF 2021-08-13T14:10:03.198Z,1628863803.198 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:03.274Z,1628863803.274 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:03.642Z,1628863803.642 [Micromodem](INFO): Nmea in: $SNTTA,0.032051,,,,141003.92*49 2021-08-13T14:10:03.670Z,1628863803.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.859999 m, bearing: 248.407942 deg, deltaT: 4.443801 s, approachRate: 0.391556 m/s, LOS rate: 7.021445 deg/s, posRepo size: 4 2021-08-13T14:10:03.672Z,1628863803.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.859999 m, bearing: 248.407942 deg, approachRate: 0.391556 m/s, LOS rate: 7.021445 deg/s, cmd update: 12.000000 deg/s, cmd heading: 197.453785 deg, new cmd heading: 195.218597 deg. 2021-08-13T14:10:06.100Z,1628863806.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:06.441Z,1628863806.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:06.441Z,1628863806.441 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:06.442Z,1628863806.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:06.444Z,1628863806.444 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:06.833Z,1628863806.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DFA,000,00326,186,80,80,78,FF 2021-08-13T14:10:06.833Z,1628863806.833 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:06.833Z,1628863806.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:06.835Z,1628863806.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:07.241Z,1628863807.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:07.646Z,1628863807.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0033C,185,80,80,6E,FF 2021-08-13T14:10:07.646Z,1628863807.646 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:07.678Z,1628863807.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:08.113Z,1628863808.113 [Micromodem](INFO): Nmea in: $SNTTA,0.029776,,,,141008.36*44 2021-08-13T14:10:08.194Z,1628863808.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 207.002898 deg, deltaT: 4.403800 s, approachRate: 0.299741 m/s, LOS rate: -9.402117 deg/s, posRepo size: 4 2021-08-13T14:10:08.194Z,1628863808.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.18 m. Rolling out. 2021-08-13T14:10:08.195Z,1628863808.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T14:10:08.514Z,1628863808.514 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T14:10:10.119Z,1628863810.119 [PowerOnly](INFO): Powering down loadControl 2021-08-13T14:10:10.181Z,1628863810.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:10.489Z,1628863810.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:10.489Z,1628863810.489 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:10.489Z,1628863810.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:10.490Z,1628863810.490 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:10.878Z,1628863810.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC5,000,0033C,185,80,80,6E,FF 2021-08-13T14:10:10.878Z,1628863810.878 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:10.878Z,1628863810.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:10.882Z,1628863810.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:11.317Z,1628863811.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:11.678Z,1628863811.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,0035C,187,80,80,3F,FF 2021-08-13T14:10:11.678Z,1628863811.678 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:11.735Z,1628863811.735 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:12.135Z,1628863812.135 [Micromodem](INFO): Nmea in: $SNTTA,0.034694,,,,141012.40*4F 2021-08-13T14:10:12.201Z,1628863812.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 178.672366 deg, deltaT: 4.062048 s, approachRate: 0.472669 m/s, LOS rate: -6.974445 deg/s, posRepo size: 4 2021-08-13T14:10:14.559Z,1628863814.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:14.925Z,1628863814.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:14.925Z,1628863814.925 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:14.925Z,1628863814.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:14.926Z,1628863814.926 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:15.325Z,1628863815.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1DC,000,0035C,187,80,80,3F,FF 2021-08-13T14:10:15.325Z,1628863815.325 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:15.326Z,1628863815.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:15.327Z,1628863815.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:15.724Z,1628863815.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:16.125Z,1628863816.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F13,000,0038B,186,80,80,58,FF 2021-08-13T14:10:16.125Z,1628863816.125 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:16.217Z,1628863816.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:16.561Z,1628863816.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141016.86*53 2021-08-13T14:10:16.587Z,1628863816.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 225.086972 deg, deltaT: 4.477327 s, approachRate: 0.629839 m/s, LOS rate: 10.366588 deg/s, posRepo size: 4 2021-08-13T14:10:18.972Z,1628863818.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:19.362Z,1628863819.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:19.362Z,1628863819.362 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:19.362Z,1628863819.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:19.363Z,1628863819.363 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:19.769Z,1628863819.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F13,000,0038B,186,80,80,58,FF 2021-08-13T14:10:19.769Z,1628863819.769 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:19.769Z,1628863819.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:19.771Z,1628863819.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:20.177Z,1628863820.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:20.585Z,1628863820.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,0038E,187,80,80,47,FF 2021-08-13T14:10:20.585Z,1628863820.585 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:20.614Z,1628863820.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:21.021Z,1628863821.021 [Micromodem](INFO): Nmea in: $SNTTA,0.083469,,,,141021.29*4C 2021-08-13T14:10:21.043Z,1628863821.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 242.954118 deg, deltaT: 4.397164 s, approachRate: 0.040936 m/s, LOS rate: 4.063334 deg/s, posRepo size: 4 2021-08-13T14:10:23.422Z,1628863823.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:23.801Z,1628863823.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:23.801Z,1628863823.801 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:23.801Z,1628863823.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:23.802Z,1628863823.802 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:24.205Z,1628863824.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E84,000,0038E,187,80,80,47,FF 2021-08-13T14:10:24.205Z,1628863824.205 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:24.205Z,1628863824.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:24.207Z,1628863824.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:24.621Z,1628863824.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:25.021Z,1628863825.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,00395,186,80,80,8E,FF 2021-08-13T14:10:25.021Z,1628863825.021 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:25.098Z,1628863825.098 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:25.473Z,1628863825.473 [Micromodem](INFO): Nmea in: $SNTTA,0.077676,,,,141025.73*40 2021-08-13T14:10:25.510Z,1628863825.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 218.921251 deg, deltaT: 4.483845 s, approachRate: 0.093670 m/s, LOS rate: -5.359879 deg/s, posRepo size: 4 2021-08-13T14:10:27.884Z,1628863827.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:28.245Z,1628863828.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:28.245Z,1628863828.245 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:28.245Z,1628863828.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:28.246Z,1628863828.246 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:28.653Z,1628863828.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 109,000,00395,186,80,80,8E,FF 2021-08-13T14:10:28.653Z,1628863828.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:28.653Z,1628863828.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:28.655Z,1628863828.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:29.057Z,1628863829.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:29.469Z,1628863829.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,0039C,186,80,80,7E,FF 2021-08-13T14:10:29.470Z,1628863829.470 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:29.523Z,1628863829.523 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:29.894Z,1628863829.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141030.18*50 2021-08-13T14:10:29.932Z,1628863829.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 249.367802 deg, deltaT: 4.424839 s, approachRate: 0.094917 m/s, LOS rate: 6.880827 deg/s, posRepo size: 4 2021-08-13T14:10:32.328Z,1628863832.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:32.689Z,1628863832.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:32.689Z,1628863832.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:32.689Z,1628863832.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:32.690Z,1628863832.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:33.101Z,1628863833.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3B,000,0039C,186,80,80,7E,FF 2021-08-13T14:10:33.101Z,1628863833.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:33.101Z,1628863833.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:33.103Z,1628863833.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:33.521Z,1628863833.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:33.898Z,1628863833.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00393,186,80,80,8F,FF 2021-08-13T14:10:33.899Z,1628863833.899 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:33.946Z,1628863833.946 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:34.345Z,1628863834.345 [Micromodem](INFO): Nmea in: $SNTTA,0.035120,,,,141034.63*43 2021-08-13T14:10:34.414Z,1628863834.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 264.849355 deg, deltaT: 4.423586 s, approachRate: -0.122072 m/s, LOS rate: 3.499774 deg/s, posRepo size: 4 2021-08-13T14:10:36.771Z,1628863836.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:37.137Z,1628863837.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:37.137Z,1628863837.137 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:37.137Z,1628863837.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:37.138Z,1628863837.138 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:37.542Z,1628863837.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E84,000,00393,186,80,80,8F,FF 2021-08-13T14:10:37.542Z,1628863837.542 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:37.542Z,1628863837.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:37.544Z,1628863837.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:37.948Z,1628863837.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:38.345Z,1628863838.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00390,187,80,80,5C,FF 2021-08-13T14:10:38.346Z,1628863838.346 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:38.470Z,1628863838.470 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:38.781Z,1628863838.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141039.07*57 2021-08-13T14:10:38.818Z,1628863838.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 270.840087 deg, deltaT: 4.523772 s, approachRate: -0.039791 m/s, LOS rate: 1.324278 deg/s, posRepo size: 4 2021-08-13T14:10:41.207Z,1628863841.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:41.577Z,1628863841.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:41.577Z,1628863841.577 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:41.577Z,1628863841.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:41.578Z,1628863841.578 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:41.981Z,1628863841.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E60,000,00390,187,80,80,5C,FF 2021-08-13T14:10:41.981Z,1628863841.981 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:41.981Z,1628863841.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:41.983Z,1628863841.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:42.399Z,1628863842.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:42.789Z,1628863842.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00392,186,80,80,90,FF 2021-08-13T14:10:42.789Z,1628863842.789 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:42.833Z,1628863842.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:43.233Z,1628863843.233 [Micromodem](INFO): Nmea in: $SNTTA,0.080622,,,,141043.51*49 2021-08-13T14:10:43.249Z,1628863843.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 271.074963 deg, deltaT: 4.362448 s, approachRate: 0.027508 m/s, LOS rate: 0.053841 deg/s, posRepo size: 4 2021-08-13T14:10:45.654Z,1628863845.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:46.035Z,1628863846.035 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:46.060Z,1628863846.060 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:46.060Z,1628863846.060 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:46.061Z,1628863846.061 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:46.434Z,1628863846.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E93,000,00392,186,80,80,90,FF 2021-08-13T14:10:46.434Z,1628863846.434 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:46.434Z,1628863846.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:46.441Z,1628863846.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:46.841Z,1628863846.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:47.238Z,1628863847.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,00390,186,80,80,A1,FF 2021-08-13T14:10:47.238Z,1628863847.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:47.257Z,1628863847.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:47.669Z,1628863847.669 [Micromodem](INFO): Nmea in: $SNTTA,0.028669,,,,141047.96*4B 2021-08-13T14:10:47.724Z,1628863847.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 273.684150 deg, deltaT: 4.424710 s, approachRate: -0.027121 m/s, LOS rate: 0.589685 deg/s, posRepo size: 4 2021-08-13T14:10:49.817Z,1628863849.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:50.113Z,1628863850.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:50.113Z,1628863850.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:50.113Z,1628863850.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:50.114Z,1628863850.114 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:50.485Z,1628863850.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E86,000,00390,186,80,80,A1,FF 2021-08-13T14:10:50.485Z,1628863850.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:50.485Z,1628863850.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:50.487Z,1628863850.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:50.878Z,1628863850.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:51.283Z,1628863851.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,0038E,186,80,80,80,FF 2021-08-13T14:10:51.286Z,1628863851.286 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:51.335Z,1628863851.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:51.701Z,1628863851.701 [Micromodem](INFO): Nmea in: $SNTTA,0.057715,,,,141052.01*43 2021-08-13T14:10:51.735Z,1628863851.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 271.730907 deg, deltaT: 4.077086 s, approachRate: -0.029432 m/s, LOS rate: -0.479078 deg/s, posRepo size: 4 2021-08-13T14:10:54.159Z,1628863854.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:54.521Z,1628863854.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:54.521Z,1628863854.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:54.521Z,1628863854.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:54.522Z,1628863854.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:54.913Z,1628863854.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC7,000,0038E,186,80,80,80,FF 2021-08-13T14:10:54.913Z,1628863854.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:54.913Z,1628863854.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:54.915Z,1628863854.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:55.316Z,1628863855.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:10:55.797Z,1628863855.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,0038D,186,80,80,9A,FF 2021-08-13T14:10:55.797Z,1628863855.797 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:10:55.826Z,1628863855.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:10:56.177Z,1628863856.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141056.44*59 2021-08-13T14:10:56.241Z,1628863856.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 276.814836 deg, deltaT: 4.491736 s, approachRate: -0.013359 m/s, LOS rate: 1.131840 deg/s, posRepo size: 4 2021-08-13T14:10:58.584Z,1628863858.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:10:58.949Z,1628863858.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:10:58.949Z,1628863858.949 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:10:58.949Z,1628863858.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:10:58.950Z,1628863858.950 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:10:59.361Z,1628863859.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E69,000,0038D,186,80,80,9A,FF 2021-08-13T14:10:59.361Z,1628863859.361 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:10:59.361Z,1628863859.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:10:59.363Z,1628863859.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:10:59.768Z,1628863859.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:00.161Z,1628863860.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,0038A,185,80,80,7D,FF 2021-08-13T14:11:00.162Z,1628863860.162 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:00.165Z,1628863860.165 [Micromodem](INFO): Nmea in: $SNTTA,0.028800,0.228467,,,141100.89*55 2021-08-13T14:11:00.243Z,1628863860.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:00.610Z,1628863860.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 271.750004 deg, deltaT: 4.417406 s, approachRate: -0.040748 m/s, LOS rate: -1.146562 deg/s, posRepo size: 4 2021-08-13T14:11:03.018Z,1628863863.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:03.397Z,1628863863.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:03.397Z,1628863863.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:03.397Z,1628863863.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:03.398Z,1628863863.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:03.797Z,1628863863.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDE,000,0038A,185,80,80,7D,FF 2021-08-13T14:11:03.797Z,1628863863.797 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:03.797Z,1628863863.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:03.799Z,1628863863.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:04.221Z,1628863864.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:04.605Z,1628863864.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,00385,186,80,80,96,FF 2021-08-13T14:11:04.605Z,1628863864.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:04.668Z,1628863864.668 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:05.046Z,1628863865.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141105.32*5F 2021-08-13T14:11:05.062Z,1628863865.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 278.746823 deg, deltaT: 4.424483 s, approachRate: -0.067805 m/s, LOS rate: 1.581387 deg/s, posRepo size: 4 2021-08-13T14:11:07.508Z,1628863867.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:07.837Z,1628863867.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:07.837Z,1628863867.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:07.837Z,1628863867.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:07.838Z,1628863867.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:08.249Z,1628863868.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E59,000,00385,186,80,80,96,FF 2021-08-13T14:11:08.249Z,1628863868.249 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:08.249Z,1628863868.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:08.251Z,1628863868.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:08.677Z,1628863868.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:09.077Z,1628863869.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,00381,186,80,80,8B,FF 2021-08-13T14:11:09.077Z,1628863869.077 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:09.096Z,1628863869.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:09.513Z,1628863869.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141109.77*52 2021-08-13T14:11:09.563Z,1628863869.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 279.619912 deg, deltaT: 4.427771 s, approachRate: -0.054204 m/s, LOS rate: 0.197185 deg/s, posRepo size: 4 2021-08-13T14:11:11.917Z,1628863871.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:12.306Z,1628863872.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:12.306Z,1628863872.306 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:12.306Z,1628863872.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:12.307Z,1628863872.307 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:12.697Z,1628863872.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E4B,000,00381,186,80,80,8B,FF 2021-08-13T14:11:12.697Z,1628863872.697 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:12.697Z,1628863872.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:12.699Z,1628863872.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:13.117Z,1628863873.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:13.514Z,1628863873.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,0037E,186,80,80,98,FF 2021-08-13T14:11:13.515Z,1628863873.515 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:13.580Z,1628863873.580 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:13.953Z,1628863873.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141114.22*5E 2021-08-13T14:11:13.980Z,1628863873.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 277.370403 deg, deltaT: 4.484530 s, approachRate: -0.040138 m/s, LOS rate: -0.501615 deg/s, posRepo size: 4 2021-08-13T14:11:16.422Z,1628863876.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:16.745Z,1628863876.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:16.745Z,1628863876.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:16.745Z,1628863876.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:16.746Z,1628863876.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:17.149Z,1628863877.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7A,000,0037E,186,80,80,98,FF 2021-08-13T14:11:17.149Z,1628863877.149 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:17.149Z,1628863877.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:17.151Z,1628863877.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:17.549Z,1628863877.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:17.958Z,1628863877.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0037B,186,80,80,60,FF 2021-08-13T14:11:17.959Z,1628863877.959 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:18.070Z,1628863878.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:18.369Z,1628863878.369 [Micromodem](INFO): Nmea in: $SNTTA,0.334940,0.334559,,,141118.67*57 2021-08-13T14:11:18.423Z,1628863878.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 273.780975 deg, deltaT: 4.489093 s, approachRate: -0.040097 m/s, LOS rate: -0.799589 deg/s, posRepo size: 4 2021-08-13T14:11:20.819Z,1628863880.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:21.198Z,1628863881.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:21.198Z,1628863881.198 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:21.198Z,1628863881.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:21.199Z,1628863881.199 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:21.590Z,1628863881.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBF,000,0037B,186,80,80,60,FF 2021-08-13T14:11:21.590Z,1628863881.590 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:21.590Z,1628863881.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:21.592Z,1628863881.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:22.024Z,1628863882.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:22.458Z,1628863882.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,00376,186,80,80,AA,FF 2021-08-13T14:11:22.459Z,1628863882.459 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:22.567Z,1628863882.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:22.882Z,1628863882.882 [Micromodem](INFO): Nmea in: $SNTTA,0.043329,,,,141123.11*4B 2021-08-13T14:11:22.931Z,1628863882.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 278.825015 deg, deltaT: 4.497586 s, approachRate: -0.066702 m/s, LOS rate: 1.121499 deg/s, posRepo size: 4 2021-08-13T14:11:25.322Z,1628863885.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:25.689Z,1628863885.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:25.689Z,1628863885.689 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:25.689Z,1628863885.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:25.690Z,1628863885.690 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:26.117Z,1628863886.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E59,000,00376,186,80,80,AA,FF 2021-08-13T14:11:26.117Z,1628863886.117 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:26.117Z,1628863886.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:26.119Z,1628863886.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:26.540Z,1628863886.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:26.925Z,1628863886.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,0037D,186,80,80,51,FF 2021-08-13T14:11:26.925Z,1628863886.925 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:27.026Z,1628863887.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:27.357Z,1628863887.357 [Micromodem](INFO): Nmea in: $SNTTA,0.061877,,,,141127.64*4D 2021-08-13T14:11:27.390Z,1628863887.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 271.850436 deg, deltaT: 4.458611 s, approachRate: 0.094198 m/s, LOS rate: -1.564294 deg/s, posRepo size: 4 2021-08-13T14:11:29.778Z,1628863889.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:30.153Z,1628863890.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:30.153Z,1628863890.153 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:30.153Z,1628863890.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:30.154Z,1628863890.154 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:30.549Z,1628863890.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE1,000,0037D,186,80,80,51,FF 2021-08-13T14:11:30.549Z,1628863890.549 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:30.549Z,1628863890.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:30.551Z,1628863890.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:30.597Z,1628863890.597 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T14:11:30.965Z,1628863890.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:31.375Z,1628863891.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00387,187,80,80,2B,FF 2021-08-13T14:11:31.375Z,1628863891.375 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:31.395Z,1628863891.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:31.813Z,1628863891.813 [Micromodem](INFO): Nmea in: $SNTTA,0.060874,,,,141132.08*41 2021-08-13T14:11:31.863Z,1628863891.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 248.202982 deg, deltaT: 4.369818 s, approachRate: 0.137307 m/s, LOS rate: -5.411542 deg/s, posRepo size: 4 2021-08-13T14:11:34.247Z,1628863894.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:34.589Z,1628863894.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:34.589Z,1628863894.589 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:34.589Z,1628863894.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:34.590Z,1628863894.590 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:35.005Z,1628863895.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B5,000,00387,187,80,80,2B,FF 2021-08-13T14:11:35.006Z,1628863895.006 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:35.006Z,1628863895.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:35.009Z,1628863895.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:35.412Z,1628863895.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:35.810Z,1628863895.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00370,187,80,80,57,FF 2021-08-13T14:11:35.810Z,1628863895.810 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:35.905Z,1628863895.905 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:36.238Z,1628863896.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141136.53*58 2021-08-13T14:11:36.277Z,1628863896.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 262.358139 deg, deltaT: 4.509877 s, approachRate: -0.305996 m/s, LOS rate: 3.138701 deg/s, posRepo size: 4 2021-08-13T14:11:38.661Z,1628863898.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:39.034Z,1628863899.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:39.034Z,1628863899.034 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:39.034Z,1628863899.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:39.035Z,1628863899.035 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:39.439Z,1628863899.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F92,000,00370,187,80,80,57,FF 2021-08-13T14:11:39.439Z,1628863899.439 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:39.441Z,1628863899.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:39.446Z,1628863899.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:39.846Z,1628863899.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:40.262Z,1628863900.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,0035B,185,80,80,82,FF 2021-08-13T14:11:40.262Z,1628863900.262 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:40.343Z,1628863900.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:40.697Z,1628863900.697 [Micromodem](INFO): Nmea in: $SNTTA,0.228493,,,,141140.97*49 2021-08-13T14:11:40.726Z,1628863900.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 277.187218 deg, deltaT: 4.442122 s, approachRate: -0.283648 m/s, LOS rate: 3.338287 deg/s, posRepo size: 4 2021-08-13T14:11:43.133Z,1628863903.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:43.513Z,1628863903.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:43.513Z,1628863903.513 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:43.513Z,1628863903.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:43.514Z,1628863903.514 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:43.887Z,1628863903.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E5A,000,0035B,185,80,80,82,FF 2021-08-13T14:11:43.887Z,1628863903.887 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:43.887Z,1628863903.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:43.890Z,1628863903.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:44.309Z,1628863904.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:44.689Z,1628863904.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B28,000,00362,18A,80,80,44,FF 2021-08-13T14:11:44.696Z,1628863904.696 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:44.790Z,1628863904.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:45.137Z,1628863905.137 [Micromodem](INFO): Nmea in: $SNTTA,0.052140,,,,141145.41*43 2021-08-13T14:11:45.153Z,1628863905.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 317.350697 deg, deltaT: 4.442141 s, approachRate: 0.094549 m/s, LOS rate: 9.041469 deg/s, posRepo size: 4 2021-08-13T14:11:47.565Z,1628863907.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:47.929Z,1628863907.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:47.929Z,1628863907.929 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:47.929Z,1628863907.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:47.930Z,1628863907.930 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:48.337Z,1628863908.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P B28,000,00362,18A,80,80,44,FF 2021-08-13T14:11:48.337Z,1628863908.337 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:48.337Z,1628863908.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:48.339Z,1628863908.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:48.847Z,1628863908.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:49.227Z,1628863909.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,118,000,0036E,186,80,80,5D,FF 2021-08-13T14:11:49.227Z,1628863909.227 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:49.273Z,1628863909.273 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:49.649Z,1628863909.649 [Micromodem](INFO): Nmea in: $SNTTA,0.055678,,,,141149.86*4F 2021-08-13T14:11:49.691Z,1628863909.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 241.164062 deg, deltaT: 4.483069 s, approachRate: 0.160604 m/s, LOS rate: -16.994303 deg/s, posRepo size: 4 2021-08-13T14:11:52.156Z,1628863912.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:52.472Z,1628863912.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:52.472Z,1628863912.472 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:52.473Z,1628863912.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:52.474Z,1628863912.474 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:52.875Z,1628863912.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 118,000,0036E,186,80,80,5D,FF 2021-08-13T14:11:52.875Z,1628863912.875 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:52.876Z,1628863912.876 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:52.878Z,1628863912.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:53.270Z,1628863913.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:54.095Z,1628863914.095 [Micromodem](INFO): Nmea in: $SNTTA,0.470783,0.470295,,,141154.40*5C 2021-08-13T14:11:54.919Z,1628863914.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:56.513Z,1628863916.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 E,186,80,80,5D,FF 2021-08-13T14:11:56.514Z,1628863916.514 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 E,186,80,80,5D,FF 2021-08-13T14:11:56.514Z,1628863916.514 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:11:57.777Z,1628863917.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:11:58.126Z,1628863918.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:11:58.126Z,1628863918.126 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:11:58.126Z,1628863918.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:11:58.127Z,1628863918.127 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:11:58.525Z,1628863918.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 E,186,80,80,5D,FF 2021-08-13T14:11:58.525Z,1628863918.525 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:11:58.525Z,1628863918.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:11:58.528Z,1628863918.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:11:58.926Z,1628863918.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:11:59.315Z,1628863919.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,00345,189,80,80,84,FF 2021-08-13T14:11:59.315Z,1628863919.315 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:11:59.391Z,1628863919.391 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:11:59.765Z,1628863919.765 [Micromodem](INFO): Nmea in: $SNTTA,0.052606,,,,141200.05*44 2021-08-13T14:11:59.807Z,1628863919.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 216.970439 deg, deltaT: 10.118061 s, approachRate: -0.243129 m/s, LOS rate: -2.391132 deg/s, posRepo size: 4 2021-08-13T14:12:02.209Z,1628863922.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:02.563Z,1628863922.563 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:02.564Z,1628863922.564 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:02.564Z,1628863922.564 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:02.565Z,1628863922.565 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:02.957Z,1628863922.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2F2,000,00345,189,80,80,84,FF 2021-08-13T14:12:02.957Z,1628863922.957 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:02.958Z,1628863922.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:02.959Z,1628863922.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:03.361Z,1628863923.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:03.775Z,1628863923.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,0034A,189,80,80,7D,FF 2021-08-13T14:12:03.775Z,1628863923.775 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:03.833Z,1628863923.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:04.219Z,1628863924.219 [Micromodem](INFO): Nmea in: $SNTTA,,0.471372,,,141204.48*4A 2021-08-13T14:12:04.273Z,1628863924.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 220.480392 deg, deltaT: 4.442022 s, approachRate: 0.067537 m/s, LOS rate: 0.790170 deg/s, posRepo size: 4 2021-08-13T14:12:06.623Z,1628863926.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:07.001Z,1628863927.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:07.001Z,1628863927.001 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:07.002Z,1628863927.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:07.003Z,1628863927.003 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:07.424Z,1628863927.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A1,000,0034A,189,80,80,7D,FF 2021-08-13T14:12:07.425Z,1628863927.425 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:07.425Z,1628863927.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:07.428Z,1628863927.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:07.805Z,1628863927.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:08.213Z,1628863928.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E1,000,0034F,189,80,80,46,FF 2021-08-13T14:12:08.214Z,1628863928.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:08.306Z,1628863928.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:08.641Z,1628863928.641 [Micromodem](INFO): Nmea in: $SNTTA,0.011026,,,,141208.95*46 2021-08-13T14:12:08.683Z,1628863928.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 204.342704 deg, deltaT: 4.472955 s, approachRate: 0.067070 m/s, LOS rate: -3.607836 deg/s, posRepo size: 4 2021-08-13T14:12:11.072Z,1628863931.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:11.448Z,1628863931.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:11.449Z,1628863931.449 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:11.449Z,1628863931.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:11.450Z,1628863931.450 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:11.853Z,1628863931.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3E1,000,0034F,189,80,80,46,FF 2021-08-13T14:12:11.854Z,1628863931.854 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:11.854Z,1628863931.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:11.856Z,1628863931.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:12.257Z,1628863932.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:12.646Z,1628863932.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40B,000,00338,189,80,80,6A,FF 2021-08-13T14:12:12.646Z,1628863932.646 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:12.678Z,1628863932.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:13.093Z,1628863933.093 [Micromodem](INFO): Nmea in: $SNTTA,,0.042621,,,141213.38*4C 2021-08-13T14:12:13.138Z,1628863933.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 202.319765 deg, deltaT: 4.371926 s, approachRate: -0.315650 m/s, LOS rate: -0.462711 deg/s, posRepo size: 4 2021-08-13T14:12:14.298Z,1628863934.298 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:12:15.545Z,1628863935.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:15.886Z,1628863935.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:15.886Z,1628863935.886 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:15.886Z,1628863935.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:15.887Z,1628863935.887 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:16.293Z,1628863936.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 40B,000,00338,189,80,80,6A,FF 2021-08-13T14:12:16.294Z,1628863936.294 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:16.294Z,1628863936.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:16.295Z,1628863936.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:16.327Z,1628863936.327 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:12:16.693Z,1628863936.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:17.093Z,1628863937.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,00333,189,80,80,7E,FF 2021-08-13T14:12:17.093Z,1628863937.093 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:17.113Z,1628863937.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:17.565Z,1628863937.565 [Micromodem](INFO): Nmea in: $SNTTA,0.042919,,,,141217.82*4D 2021-08-13T14:12:17.616Z,1628863937.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 215.068409 deg, deltaT: 4.434804 s, approachRate: -0.067647 m/s, LOS rate: 2.874680 deg/s, posRepo size: 4 2021-08-13T14:12:19.981Z,1628863939.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:20.329Z,1628863940.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:20.329Z,1628863940.329 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:20.330Z,1628863940.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:20.330Z,1628863940.330 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:20.729Z,1628863940.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 30A,000,00333,189,80,80,7E,FF 2021-08-13T14:12:20.729Z,1628863940.729 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:20.729Z,1628863940.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:20.731Z,1628863940.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:21.136Z,1628863941.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:21.545Z,1628863941.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0031C,186,80,80,6D,FF 2021-08-13T14:12:21.546Z,1628863941.546 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:21.612Z,1628863941.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:21.984Z,1628863941.984 [Micromodem](INFO): Nmea in: $SNTTA,0.034237,,,,141222.25*40 2021-08-13T14:12:22.088Z,1628863942.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 246.197311 deg, deltaT: 4.499561 s, approachRate: -0.306697 m/s, LOS rate: 6.918209 deg/s, posRepo size: 4 2021-08-13T14:12:24.431Z,1628863944.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:24.768Z,1628863944.768 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:24.768Z,1628863944.768 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:24.769Z,1628863944.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:24.769Z,1628863944.769 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:25.183Z,1628863945.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 099,000,0031C,186,80,80,6D,FF 2021-08-13T14:12:25.183Z,1628863945.183 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:25.184Z,1628863945.184 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:25.186Z,1628863945.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:25.591Z,1628863945.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:25.983Z,1628863945.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,00324,186,80,80,42,FF 2021-08-13T14:12:25.983Z,1628863945.983 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:26.071Z,1628863946.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:26.485Z,1628863946.485 [Micromodem](INFO): Nmea in: $SNTTA,0.009702,,,,141226.71*48 2021-08-13T14:12:26.555Z,1628863946.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 277.579571 deg, deltaT: 4.458668 s, approachRate: 0.107655 m/s, LOS rate: 7.038483 deg/s, posRepo size: 4 2021-08-13T14:12:28.866Z,1628863948.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:29.213Z,1628863949.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:29.214Z,1628863949.214 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:29.214Z,1628863949.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:29.215Z,1628863949.215 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:29.633Z,1628863949.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E21,000,00324,186,80,80,42,FF 2021-08-13T14:12:29.633Z,1628863949.633 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:29.633Z,1628863949.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:29.635Z,1628863949.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:30.062Z,1628863950.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:30.428Z,1628863950.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00311,185,80,80,76,FF 2021-08-13T14:12:30.429Z,1628863950.429 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:30.499Z,1628863950.499 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:30.866Z,1628863950.866 [Micromodem](INFO): Nmea in: $SNTTA,0.005984,,,,141231.16*43 2021-08-13T14:12:30.918Z,1628863950.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 251.412624 deg, deltaT: 4.437212 s, approachRate: -0.256918 m/s, LOS rate: -5.897159 deg/s, posRepo size: 4 2021-08-13T14:12:33.286Z,1628863953.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:33.660Z,1628863953.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:33.660Z,1628863953.660 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:33.661Z,1628863953.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:33.661Z,1628863953.661 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:34.093Z,1628863954.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02F,000,00311,185,80,80,76,FF 2021-08-13T14:12:34.093Z,1628863954.093 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:34.093Z,1628863954.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:34.095Z,1628863954.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:34.530Z,1628863954.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:34.898Z,1628863954.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00319,186,80,80,73,FF 2021-08-13T14:12:34.898Z,1628863954.898 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:34.939Z,1628863954.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:35.354Z,1628863955.354 [Micromodem](INFO): Nmea in: $SNTTA,0.006333,,,,141235.62*41 2021-08-13T14:12:35.376Z,1628863955.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 264.206798 deg, deltaT: 4.430583 s, approachRate: 0.108339 m/s, LOS rate: 2.887695 deg/s, posRepo size: 4 2021-08-13T14:12:37.767Z,1628863957.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:38.129Z,1628863958.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:38.129Z,1628863958.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:38.129Z,1628863958.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:38.130Z,1628863958.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:38.537Z,1628863958.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F29,000,00319,186,80,80,73,FF 2021-08-13T14:12:38.537Z,1628863958.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:38.537Z,1628863958.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:38.539Z,1628863958.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:38.945Z,1628863958.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:39.360Z,1628863959.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00302,186,80,80,97,FF 2021-08-13T14:12:39.361Z,1628863959.361 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:39.381Z,1628863959.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:39.785Z,1628863959.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141240.06*5A 2021-08-13T14:12:39.815Z,1628863959.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 276.015540 deg, deltaT: 4.442877 s, approachRate: -0.310610 m/s, LOS rate: 2.657904 deg/s, posRepo size: 4 2021-08-13T14:12:42.206Z,1628863962.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:42.585Z,1628863962.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:42.585Z,1628863962.585 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:42.585Z,1628863962.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:42.586Z,1628863962.586 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:42.977Z,1628863962.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E39,000,00302,186,80,80,97,FF 2021-08-13T14:12:42.977Z,1628863962.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:42.977Z,1628863962.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:42.979Z,1628863962.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:43.385Z,1628863963.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:43.785Z,1628863963.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,00312,188,80,80,8C,FF 2021-08-13T14:12:43.785Z,1628863963.785 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:43.839Z,1628863963.839 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:44.233Z,1628863964.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141244.50*5D 2021-08-13T14:12:44.279Z,1628863964.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 278.213549 deg, deltaT: 4.467865 s, approachRate: 0.214868 m/s, LOS rate: 0.491960 deg/s, posRepo size: 4 2021-08-13T14:12:46.656Z,1628863966.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:47.025Z,1628863967.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:47.025Z,1628863967.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:47.026Z,1628863967.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:47.026Z,1628863967.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:47.420Z,1628863967.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E11,000,00312,188,80,80,8C,FF 2021-08-13T14:12:47.421Z,1628863967.421 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:47.421Z,1628863967.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:47.423Z,1628863967.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:47.825Z,1628863967.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:48.237Z,1628863968.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,002F7,186,80,80,B0,FF 2021-08-13T14:12:48.237Z,1628863968.237 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:48.307Z,1628863968.307 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:48.669Z,1628863968.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141248.95*58 2021-08-13T14:12:48.695Z,1628863968.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 277.335842 deg, deltaT: 4.457356 s, approachRate: -0.363444 m/s, LOS rate: -0.196912 deg/s, posRepo size: 4 2021-08-13T14:12:51.074Z,1628863971.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:51.484Z,1628863971.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:51.485Z,1628863971.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:51.485Z,1628863971.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:51.486Z,1628863971.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:51.866Z,1628863971.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E25,000,002F7,186,80,80,B0,FF 2021-08-13T14:12:51.866Z,1628863971.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:51.866Z,1628863971.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:51.916Z,1628863971.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:52.280Z,1628863972.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:52.673Z,1628863972.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,002F0,187,80,80,BC,FF 2021-08-13T14:12:52.674Z,1628863972.674 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:52.703Z,1628863972.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:53.165Z,1628863973.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 276.504035 deg, deltaT: 4.396169 s, approachRate: -0.095538 m/s, LOS rate: -0.189212 deg/s, posRepo size: 4 2021-08-13T14:12:53.525Z,1628863973.525 [Micromodem](INFO): Nmea in: $SNTTA,0.022667,,,,141253.47*44 2021-08-13T14:12:55.561Z,1628863975.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:12:55.913Z,1628863975.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:12:55.913Z,1628863975.913 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:12:55.913Z,1628863975.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:12:55.914Z,1628863975.914 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:12:56.332Z,1628863976.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E3A,000,002F0,187,80,80,BC,FF 2021-08-13T14:12:56.333Z,1628863976.333 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:12:56.333Z,1628863976.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:12:56.335Z,1628863976.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:12:56.810Z,1628863976.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:12:57.205Z,1628863977.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,002E8,186,80,80,A9,FF 2021-08-13T14:12:57.205Z,1628863977.205 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:12:57.227Z,1628863977.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:12:57.629Z,1628863977.629 [Micromodem](INFO): Nmea in: $SNTTA,0.066150,,,,141257.86*4E 2021-08-13T14:12:57.674Z,1628863977.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 274.372497 deg, deltaT: 4.523863 s, approachRate: -0.106104 m/s, LOS rate: -0.471177 deg/s, posRepo size: 4 2021-08-13T14:13:00.128Z,1628863980.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:00.433Z,1628863980.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:00.433Z,1628863980.433 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:00.433Z,1628863980.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:00.434Z,1628863980.434 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:00.837Z,1628863980.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E5D,000,002E8,186,80,80,A9,FF 2021-08-13T14:13:00.837Z,1628863980.837 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:00.837Z,1628863980.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:00.839Z,1628863980.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:01.250Z,1628863981.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:01.651Z,1628863981.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,002E2,186,80,80,BC,FF 2021-08-13T14:13:01.651Z,1628863981.651 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:01.700Z,1628863981.700 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:02.110Z,1628863982.110 [Micromodem](INFO): Nmea in: $SNTTA,0.027047,,,,141302.36*46 2021-08-13T14:13:02.146Z,1628863982.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 272.615990 deg, deltaT: 4.473382 s, approachRate: -0.080476 m/s, LOS rate: -0.392657 deg/s, posRepo size: 4 2021-08-13T14:13:04.527Z,1628863984.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:04.878Z,1628863984.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:04.878Z,1628863984.878 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:04.878Z,1628863984.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:04.879Z,1628863984.879 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:05.281Z,1628863985.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E84,000,002E2,186,80,80,BC,FF 2021-08-13T14:13:05.281Z,1628863985.281 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:05.281Z,1628863985.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:05.283Z,1628863985.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:05.706Z,1628863985.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:06.129Z,1628863986.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,002E0,187,80,80,A3,FF 2021-08-13T14:13:06.129Z,1628863986.129 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:06.133Z,1628863986.133 [Micromodem](INFO): Nmea in: $SNTTA,0.007330,0.307624,,,141306.81*55 2021-08-13T14:13:06.199Z,1628863986.199 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:06.566Z,1628863986.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 279.039319 deg, deltaT: 4.503241 s, approachRate: -0.026647 m/s, LOS rate: 1.426379 deg/s, posRepo size: 4 2021-08-13T14:13:08.946Z,1628863988.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:09.325Z,1628863989.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:09.325Z,1628863989.325 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:09.325Z,1628863989.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:09.326Z,1628863989.326 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:09.735Z,1628863989.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF9,000,002E0,187,80,80,A3,FF 2021-08-13T14:13:09.735Z,1628863989.735 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:09.735Z,1628863989.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:09.737Z,1628863989.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:10.158Z,1628863990.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:10.529Z,1628863990.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B6,000,002DB,187,80,80,83,FF 2021-08-13T14:13:10.530Z,1628863990.530 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:10.594Z,1628863990.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:10.975Z,1628863990.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 243.805433 deg, deltaT: 4.391048 s, approachRate: -0.068321 m/s, LOS rate: -8.024027 deg/s, posRepo size: 4 2021-08-13T14:13:11.759Z,1628863991.759 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:13:13.385Z,1628863993.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:13.769Z,1628863993.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:13.769Z,1628863993.769 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:13.770Z,1628863993.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:13.771Z,1628863993.771 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:14.181Z,1628863994.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B6,000,002DB,187,80,80,83,FF 2021-08-13T14:13:14.181Z,1628863994.181 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:14.181Z,1628863994.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:14.183Z,1628863994.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:14.584Z,1628863994.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:14.977Z,1628863994.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,002D9,183,80,80,81,FF 2021-08-13T14:13:14.978Z,1628863994.978 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:15.015Z,1628863995.015 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:15.417Z,1628863995.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141315.71*5B 2021-08-13T14:13:15.487Z,1628863995.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 253.478757 deg, deltaT: 4.425217 s, approachRate: -0.027117 m/s, LOS rate: 2.185955 deg/s, posRepo size: 4 2021-08-13T14:13:17.834Z,1628863997.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:18.216Z,1628863998.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:18.216Z,1628863998.216 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:18.217Z,1628863998.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:18.217Z,1628863998.217 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:18.630Z,1628863998.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEE,000,002D9,183,80,80,81,FF 2021-08-13T14:13:18.630Z,1628863998.630 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:18.630Z,1628863998.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:18.632Z,1628863998.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:19.025Z,1628863999.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:19.428Z,1628863999.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,002D9,184,80,80,80,FF 2021-08-13T14:13:19.429Z,1628863999.429 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:19.497Z,1628863999.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:19.879Z,1628863999.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 249.405560 deg, deltaT: 4.477637 s, approachRate: 0.000000 m/s, LOS rate: -0.909676 deg/s, posRepo size: 4 2021-08-13T14:13:22.309Z,1628864002.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:22.657Z,1628864002.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:22.657Z,1628864002.657 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:22.657Z,1628864002.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:22.658Z,1628864002.658 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:23.077Z,1628864003.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 031,000,002D9,184,80,80,80,FF 2021-08-13T14:13:23.077Z,1628864003.077 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:23.077Z,1628864003.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:23.079Z,1628864003.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:23.482Z,1628864003.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:23.885Z,1628864003.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,002D6,184,80,80,7F,FF 2021-08-13T14:13:23.885Z,1628864003.885 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:23.934Z,1628864003.934 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:24.305Z,1628864004.305 [Micromodem](INFO): Nmea in: $SNTTA,,0.052319,,,141324.61*4A 2021-08-13T14:13:24.353Z,1628864004.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 255.007107 deg, deltaT: 4.436648 s, approachRate: -0.040572 m/s, LOS rate: 1.262563 deg/s, posRepo size: 4 2021-08-13T14:13:26.729Z,1628864006.729 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:13:26.743Z,1628864006.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:27.109Z,1628864007.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:27.109Z,1628864007.109 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:27.110Z,1628864007.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:27.110Z,1628864007.110 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:27.521Z,1628864007.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB8,000,002D6,184,80,80,7F,FF 2021-08-13T14:13:27.521Z,1628864007.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:27.521Z,1628864007.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:27.523Z,1628864007.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:27.933Z,1628864007.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:28.313Z,1628864008.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,002D5,184,80,80,7A,FF 2021-08-13T14:13:28.313Z,1628864008.313 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:28.392Z,1628864008.392 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:28.771Z,1628864008.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 248.981514 deg, deltaT: 4.458482 s, approachRate: -0.013458 m/s, LOS rate: -1.351490 deg/s, posRepo size: 4 2021-08-13T14:13:31.194Z,1628864011.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:31.553Z,1628864011.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:31.553Z,1628864011.553 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:31.553Z,1628864011.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:31.554Z,1628864011.554 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:31.957Z,1628864011.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02C,000,002D5,184,80,80,7A,FF 2021-08-13T14:13:31.957Z,1628864011.957 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:31.958Z,1628864011.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:31.959Z,1628864011.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:32.365Z,1628864012.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:32.773Z,1628864012.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D0,000,002D5,187,80,80,94,FF 2021-08-13T14:13:32.774Z,1628864012.774 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:32.840Z,1628864012.840 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:33.189Z,1628864013.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141333.49*54 2021-08-13T14:13:33.225Z,1628864013.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 240.445581 deg, deltaT: 4.447716 s, approachRate: 0.000000 m/s, LOS rate: -1.919172 deg/s, posRepo size: 4 2021-08-13T14:13:35.635Z,1628864015.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:36.012Z,1628864016.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:36.013Z,1628864016.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:36.013Z,1628864016.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:36.014Z,1628864016.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:36.405Z,1628864016.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0D0,000,002D5,187,80,80,94,FF 2021-08-13T14:13:36.405Z,1628864016.405 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:36.405Z,1628864016.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:36.407Z,1628864016.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:36.837Z,1628864016.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:37.213Z,1628864017.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,002D4,186,80,80,9B,FF 2021-08-13T14:13:37.213Z,1628864017.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:37.233Z,1628864017.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:37.666Z,1628864017.666 [Micromodem](INFO): Nmea in: $SNTTA,0.059365,,,,141337.93*45 2021-08-13T14:13:37.692Z,1628864017.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 238.112825 deg, deltaT: 4.392589 s, approachRate: -0.013659 m/s, LOS rate: -0.531066 deg/s, posRepo size: 4 2021-08-13T14:13:40.137Z,1628864020.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:40.456Z,1628864020.456 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:40.457Z,1628864020.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:40.457Z,1628864020.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:40.458Z,1628864020.458 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:40.850Z,1628864020.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0ED,000,002D4,186,80,80,9B,FF 2021-08-13T14:13:40.850Z,1628864020.850 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:40.850Z,1628864020.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:40.853Z,1628864020.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:41.272Z,1628864021.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:41.666Z,1628864021.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11F,000,002D5,186,80,80,7A,FF 2021-08-13T14:13:41.667Z,1628864021.667 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:41.702Z,1628864021.702 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:13:41.738Z,1628864021.738 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:42.106Z,1628864022.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141342.38*54 2021-08-13T14:13:42.143Z,1628864022.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 235.105848 deg, deltaT: 4.505085 s, approachRate: 0.013318 m/s, LOS rate: -0.667463 deg/s, posRepo size: 4 2021-08-13T14:13:44.570Z,1628864024.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:44.894Z,1628864024.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:44.894Z,1628864024.894 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:44.894Z,1628864024.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:44.895Z,1628864024.895 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:45.293Z,1628864025.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 11F,000,002D5,186,80,80,7A,FF 2021-08-13T14:13:45.293Z,1628864025.293 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:45.293Z,1628864025.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:45.295Z,1628864025.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:45.703Z,1628864025.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:46.113Z,1628864026.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,002D3,186,80,80,6E,FF 2021-08-13T14:13:46.113Z,1628864026.113 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:46.173Z,1628864026.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:46.577Z,1628864026.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141346.82*51 2021-08-13T14:13:46.583Z,1628864026.583 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:13:46.624Z,1628864026.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 223.979620 deg, deltaT: 4.435760 s, approachRate: -0.027052 m/s, LOS rate: -2.508302 deg/s, posRepo size: 4 2021-08-13T14:13:48.981Z,1628864028.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:49.341Z,1628864029.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:49.341Z,1628864029.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:49.341Z,1628864029.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:49.342Z,1628864029.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:49.737Z,1628864029.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F7,000,002D3,186,80,80,6E,FF 2021-08-13T14:13:49.737Z,1628864029.737 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:49.737Z,1628864029.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:49.739Z,1628864029.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:50.145Z,1628864030.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:50.553Z,1628864030.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,002D5,189,80,80,AB,FF 2021-08-13T14:13:50.554Z,1628864030.554 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:50.635Z,1628864030.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:50.981Z,1628864030.981 [Micromodem](INFO): Nmea in: $SNTTA,0.035037,,,,141351.26*45 2021-08-13T14:13:51.014Z,1628864031.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 218.535454 deg, deltaT: 4.461637 s, approachRate: 0.026896 m/s, LOS rate: -1.220217 deg/s, posRepo size: 4 2021-08-13T14:13:53.397Z,1628864033.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:53.777Z,1628864033.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:53.777Z,1628864033.777 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:53.777Z,1628864033.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:53.778Z,1628864033.778 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:54.185Z,1628864034.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 253,000,002D5,189,80,80,AB,FF 2021-08-13T14:13:54.185Z,1628864034.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:54.185Z,1628864034.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:54.187Z,1628864034.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:54.589Z,1628864034.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:54.989Z,1628864034.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29C,000,002D6,189,80,80,58,FF 2021-08-13T14:13:54.990Z,1628864034.990 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:55.033Z,1628864035.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:55.450Z,1628864035.450 [Micromodem](INFO): Nmea in: $SNTTA,0.031273,,,,141355.71*45 2021-08-13T14:13:55.513Z,1628864035.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 214.926218 deg, deltaT: 4.397568 s, approachRate: 0.013644 m/s, LOS rate: -0.820735 deg/s, posRepo size: 4 2021-08-13T14:13:56.623Z,1628864036.623 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-08-13T14:13:57.856Z,1628864037.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:13:58.221Z,1628864038.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:13:58.221Z,1628864038.221 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:13:58.221Z,1628864038.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:13:58.222Z,1628864038.222 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:13:58.629Z,1628864038.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 29C,000,002D6,189,80,80,58,FF 2021-08-13T14:13:58.629Z,1628864038.629 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:13:58.629Z,1628864038.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:13:58.631Z,1628864038.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:13:59.040Z,1628864039.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:13:59.441Z,1628864039.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,002DA,186,80,80,B4,FF 2021-08-13T14:13:59.442Z,1628864039.442 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:13:59.564Z,1628864039.564 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:13:59.890Z,1628864039.890 [Micromodem](INFO): Nmea in: $SNTTA,0.025768,,,,141400.16*49 2021-08-13T14:13:59.936Z,1628864039.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 268.253658 deg, deltaT: 4.531554 s, approachRate: 0.052962 m/s, LOS rate: 11.768025 deg/s, posRepo size: 4 2021-08-13T14:14:01.507Z,1628864041.507 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T14:14:02.313Z,1628864042.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:02.666Z,1628864042.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:02.666Z,1628864042.666 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:02.666Z,1628864042.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:02.667Z,1628864042.667 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:03.073Z,1628864043.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E70,000,002DA,186,80,80,B4,FF 2021-08-13T14:14:03.073Z,1628864043.073 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:03.073Z,1628864043.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:03.075Z,1628864043.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:03.502Z,1628864043.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:03.874Z,1628864043.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,002DC,186,80,80,B9,FF 2021-08-13T14:14:03.874Z,1628864043.874 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:03.928Z,1628864043.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:04.346Z,1628864044.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.419999 m, bearing: 266.402513 deg, deltaT: 4.364090 s, approachRate: 0.027497 m/s, LOS rate: -0.424177 deg/s, posRepo size: 4 2021-08-13T14:14:06.756Z,1628864046.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:07.108Z,1628864047.108 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:07.108Z,1628864047.108 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:07.109Z,1628864047.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:07.109Z,1628864047.109 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:07.521Z,1628864047.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA9,000,002DC,186,80,80,B9,FF 2021-08-13T14:14:07.521Z,1628864047.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:07.521Z,1628864047.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:07.523Z,1628864047.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:07.930Z,1628864047.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:08.317Z,1628864048.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,002F6,186,80,80,D1,FF 2021-08-13T14:14:08.318Z,1628864048.318 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:08.397Z,1628864048.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:08.765Z,1628864048.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141409.05*52 2021-08-13T14:14:08.790Z,1628864048.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 264.262177 deg, deltaT: 4.468839 s, approachRate: 0.349084 m/s, LOS rate: -0.478947 deg/s, posRepo size: 4 2021-08-13T14:14:11.174Z,1628864051.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:11.565Z,1628864051.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:11.565Z,1628864051.565 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:11.565Z,1628864051.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:11.566Z,1628864051.566 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:11.954Z,1628864051.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFD,000,002F6,186,80,80,D1,FF 2021-08-13T14:14:11.955Z,1628864051.955 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:11.955Z,1628864051.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:11.957Z,1628864051.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:12.365Z,1628864052.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:12.769Z,1628864052.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,002E8,186,80,80,CC,FF 2021-08-13T14:14:12.769Z,1628864052.769 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:12.819Z,1628864052.819 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:13.201Z,1628864053.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141413.48*50 2021-08-13T14:14:13.237Z,1628864053.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 262.931602 deg, deltaT: 4.421756 s, approachRate: -0.189970 m/s, LOS rate: -0.300916 deg/s, posRepo size: 4 2021-08-13T14:14:15.645Z,1628864055.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:16.012Z,1628864056.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:16.013Z,1628864056.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:16.013Z,1628864056.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:16.015Z,1628864056.015 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:16.401Z,1628864056.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3D,000,002E8,186,80,80,CC,FF 2021-08-13T14:14:16.401Z,1628864056.401 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:16.401Z,1628864056.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:16.403Z,1628864056.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:16.599Z,1628864056.599 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T14:14:16.813Z,1628864056.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:17.209Z,1628864057.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F74,000,002E9,186,80,80,BC,FF 2021-08-13T14:14:17.210Z,1628864057.210 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:17.229Z,1628864057.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:17.649Z,1628864057.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141417.93*52 2021-08-13T14:14:17.705Z,1628864057.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 261.652772 deg, deltaT: 4.409706 s, approachRate: 0.013606 m/s, LOS rate: -0.290003 deg/s, posRepo size: 4 2021-08-13T14:14:20.119Z,1628864060.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:20.457Z,1628864060.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:20.457Z,1628864060.457 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:20.458Z,1628864060.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:20.459Z,1628864060.459 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:20.852Z,1628864060.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F74,000,002E9,186,80,80,BC,FF 2021-08-13T14:14:20.852Z,1628864060.852 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:20.853Z,1628864060.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:20.854Z,1628864060.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:21.252Z,1628864061.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:21.661Z,1628864061.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,002F1,184,80,80,BC,FF 2021-08-13T14:14:21.661Z,1628864061.661 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:21.730Z,1628864061.730 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:22.110Z,1628864062.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141422.38*55 2021-08-13T14:14:22.146Z,1628864062.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 259.814467 deg, deltaT: 4.500981 s, approachRate: 0.106644 m/s, LOS rate: -0.408423 deg/s, posRepo size: 4 2021-08-13T14:14:24.540Z,1628864064.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:24.882Z,1628864064.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:24.882Z,1628864064.882 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:24.882Z,1628864064.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:24.882Z,1628864064.882 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:25.294Z,1628864065.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB6,000,002F1,184,80,80,BC,FF 2021-08-13T14:14:25.294Z,1628864065.294 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:25.294Z,1628864065.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:25.296Z,1628864065.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:25.701Z,1628864065.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:26.101Z,1628864066.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,002FA,184,80,80,A8,FF 2021-08-13T14:14:26.101Z,1628864066.101 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:26.160Z,1628864066.160 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:26.577Z,1628864066.577 [Micromodem](INFO): Nmea in: $SNTTA,0.022847,,,,141426.82*45 2021-08-13T14:14:26.622Z,1628864066.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 257.413492 deg, deltaT: 4.430717 s, approachRate: 0.121876 m/s, LOS rate: -0.541893 deg/s, posRepo size: 4 2021-08-13T14:14:28.966Z,1628864068.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:29.329Z,1628864069.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:29.329Z,1628864069.329 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:29.329Z,1628864069.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:29.330Z,1628864069.330 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:29.733Z,1628864069.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF3,000,002FA,184,80,80,A8,FF 2021-08-13T14:14:29.733Z,1628864069.733 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:29.733Z,1628864069.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:29.735Z,1628864069.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:30.137Z,1628864070.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:30.545Z,1628864070.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,002FD,184,80,80,9B,FF 2021-08-13T14:14:30.545Z,1628864070.545 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:30.611Z,1628864070.611 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:30.990Z,1628864070.990 [Micromodem](INFO): Nmea in: $SNTTA,0.008273,,,,141431.26*48 2021-08-13T14:14:31.017Z,1628864071.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 258.486296 deg, deltaT: 4.450532 s, approachRate: 0.040445 m/s, LOS rate: 0.241051 deg/s, posRepo size: 4 2021-08-13T14:14:33.397Z,1628864073.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:33.781Z,1628864073.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:33.781Z,1628864073.781 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:33.781Z,1628864073.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:33.782Z,1628864073.782 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:34.185Z,1628864074.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE2,000,002FD,184,80,80,9B,FF 2021-08-13T14:14:34.185Z,1628864074.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:34.185Z,1628864074.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:34.187Z,1628864074.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:34.596Z,1628864074.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:34.985Z,1628864074.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00307,185,80,80,C2,FF 2021-08-13T14:14:34.985Z,1628864074.985 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:35.130Z,1628864075.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:35.431Z,1628864075.431 [Micromodem](INFO): Nmea in: $SNTTA,0.005745,,,,141435.71*43 2021-08-13T14:14:35.494Z,1628864075.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 255.219553 deg, deltaT: 4.519083 s, approachRate: 0.132770 m/s, LOS rate: -0.722877 deg/s, posRepo size: 4 2021-08-13T14:14:37.855Z,1628864077.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:38.223Z,1628864078.223 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:38.223Z,1628864078.223 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:38.223Z,1628864078.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:38.225Z,1628864078.225 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:38.625Z,1628864078.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,00307,185,80,80,C2,FF 2021-08-13T14:14:38.625Z,1628864078.625 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:38.626Z,1628864078.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:38.627Z,1628864078.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:39.032Z,1628864079.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:39.441Z,1628864079.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00310,184,80,80,9E,FF 2021-08-13T14:14:39.442Z,1628864079.442 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:39.506Z,1628864079.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:39.870Z,1628864079.870 [Micromodem](INFO): Nmea in: $SNTTA,0.031431,,,,141440.15*44 2021-08-13T14:14:39.917Z,1628864079.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 254.045854 deg, deltaT: 4.375753 s, approachRate: 0.123408 m/s, LOS rate: -0.268228 deg/s, posRepo size: 4 2021-08-13T14:14:42.312Z,1628864082.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:42.669Z,1628864082.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:42.669Z,1628864082.669 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:42.669Z,1628864082.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:42.670Z,1628864082.670 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:43.073Z,1628864083.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03A,000,00310,184,80,80,9E,FF 2021-08-13T14:14:43.073Z,1628864083.073 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:43.073Z,1628864083.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:43.075Z,1628864083.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:43.521Z,1628864083.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:43.878Z,1628864083.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00318,184,80,80,84,FF 2021-08-13T14:14:43.879Z,1628864083.879 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:43.929Z,1628864083.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:44.325Z,1628864084.325 [Micromodem](INFO): Nmea in: $SNTTA,,0.413778,,,141444.60*48 2021-08-13T14:14:44.361Z,1628864084.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.019998 m, bearing: 253.304204 deg, deltaT: 4.423430 s, approachRate: 0.108513 m/s, LOS rate: -0.167664 deg/s, posRepo size: 4 2021-08-13T14:14:46.538Z,1628864086.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:46.705Z,1628864086.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:46.705Z,1628864086.705 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:46.705Z,1628864086.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:46.706Z,1628864086.706 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:47.113Z,1628864087.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03A,000,00318,184,80,80,84,FF 2021-08-13T14:14:47.113Z,1628864087.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:47.113Z,1628864087.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:47.115Z,1628864087.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:47.528Z,1628864087.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:47.930Z,1628864087.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00324,185,80,80,6B,FF 2021-08-13T14:14:47.931Z,1628864087.931 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:47.954Z,1628864087.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:48.329Z,1628864088.329 [Micromodem](INFO): Nmea in: $SNTTA,0.391541,0.391666,,,141448.64*56 2021-08-13T14:14:48.377Z,1628864088.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 252.406963 deg, deltaT: 4.025078 s, approachRate: 0.178879 m/s, LOS rate: -0.222913 deg/s, posRepo size: 4 2021-08-13T14:14:50.786Z,1628864090.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:51.153Z,1628864091.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:51.153Z,1628864091.153 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:51.153Z,1628864091.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:51.154Z,1628864091.154 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:51.569Z,1628864091.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 044,000,00324,185,80,80,6B,FF 2021-08-13T14:14:51.569Z,1628864091.569 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:51.569Z,1628864091.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:51.571Z,1628864091.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:51.961Z,1628864091.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:52.377Z,1628864092.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,0032B,184,80,80,A5,FF 2021-08-13T14:14:52.377Z,1628864092.377 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:52.381Z,1628864092.381 [Micromodem](INFO): Nmea in: $SNTTA,0.007258,0.164007,,,141453.09*5D 2021-08-13T14:14:52.498Z,1628864092.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:52.804Z,1628864092.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 253.228089 deg, deltaT: 4.543993 s, approachRate: 0.092430 m/s, LOS rate: 0.180706 deg/s, posRepo size: 4 2021-08-13T14:14:55.206Z,1628864095.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:14:55.601Z,1628864095.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:14:55.601Z,1628864095.601 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:14:55.601Z,1628864095.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:14:55.602Z,1628864095.602 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:14:56.033Z,1628864096.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02C,000,0032B,184,80,80,A5,FF 2021-08-13T14:14:56.033Z,1628864096.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:14:56.034Z,1628864096.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:14:56.044Z,1628864096.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:14:56.529Z,1628864096.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:14:56.898Z,1628864096.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00346,184,80,80,60,FF 2021-08-13T14:14:56.898Z,1628864096.898 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:14:56.921Z,1628864096.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:14:57.317Z,1628864097.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141457.57*5E 2021-08-13T14:14:57.339Z,1628864097.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 251.530759 deg, deltaT: 4.422536 s, approachRate: 0.366305 m/s, LOS rate: -0.383791 deg/s, posRepo size: 4 2021-08-13T14:14:59.755Z,1628864099.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:00.139Z,1628864100.139 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:00.139Z,1628864100.139 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:00.139Z,1628864100.139 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:00.152Z,1628864100.152 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:00.529Z,1628864100.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 04B,000,00346,184,80,80,60,FF 2021-08-13T14:15:00.529Z,1628864100.529 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:00.529Z,1628864100.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:00.531Z,1628864100.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:00.955Z,1628864100.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:01.341Z,1628864101.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,0033F,184,80,80,93,FF 2021-08-13T14:15:01.341Z,1628864101.341 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:01.465Z,1628864101.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:01.777Z,1628864101.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141502.06*5B 2021-08-13T14:15:01.819Z,1628864101.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 250.997103 deg, deltaT: 4.544976 s, approachRate: -0.092409 m/s, LOS rate: -0.117417 deg/s, posRepo size: 4 2021-08-13T14:15:04.223Z,1628864104.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:04.577Z,1628864104.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:04.577Z,1628864104.577 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:04.577Z,1628864104.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:04.578Z,1628864104.578 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:04.977Z,1628864104.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 053,000,0033F,184,80,80,93,FF 2021-08-13T14:15:04.978Z,1628864104.978 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:04.978Z,1628864104.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:04.980Z,1628864104.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:05.381Z,1628864105.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:05.781Z,1628864105.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00349,186,80,80,A8,FF 2021-08-13T14:15:05.781Z,1628864105.781 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:05.844Z,1628864105.844 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:06.237Z,1628864106.237 [Micromodem](INFO): Nmea in: $SNTTA,0.044932,,,,141506.50*4A 2021-08-13T14:15:06.294Z,1628864106.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 249.716579 deg, deltaT: 4.378583 s, approachRate: 0.137030 m/s, LOS rate: -0.292452 deg/s, posRepo size: 4 2021-08-13T14:15:08.653Z,1628864108.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:09.013Z,1628864109.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:09.013Z,1628864109.013 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:09.013Z,1628864109.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:09.014Z,1628864109.014 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:09.429Z,1628864109.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 063,000,00349,186,80,80,A8,FF 2021-08-13T14:15:09.429Z,1628864109.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:09.429Z,1628864109.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:09.431Z,1628864109.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:09.841Z,1628864109.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:10.229Z,1628864110.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00352,187,80,80,A6,FF 2021-08-13T14:15:10.230Z,1628864110.230 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:10.233Z,1628864110.233 [Micromodem](INFO): Nmea in: $SNTTA,0.038857,0.194945,,,141510.96*54 2021-08-13T14:15:10.311Z,1628864110.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:10.699Z,1628864110.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 249.593363 deg, deltaT: 4.471149 s, approachRate: 0.120775 m/s, LOS rate: -0.027558 deg/s, posRepo size: 4 2021-08-13T14:15:13.091Z,1628864113.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:13.481Z,1628864113.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:13.481Z,1628864113.481 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:13.481Z,1628864113.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:13.482Z,1628864113.482 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:13.861Z,1628864113.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 067,000,00352,187,80,80,A6,FF 2021-08-13T14:15:13.861Z,1628864113.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:13.861Z,1628864113.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:13.863Z,1628864113.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:14.282Z,1628864114.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:14.669Z,1628864114.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,0036D,186,80,80,5F,FF 2021-08-13T14:15:14.669Z,1628864114.669 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:14.757Z,1628864114.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:15.110Z,1628864115.110 [Micromodem](INFO): Nmea in: $SNTTA,0.048574,,,,141515.39*45 2021-08-13T14:15:15.128Z,1628864115.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 248.006901 deg, deltaT: 4.441071 s, approachRate: 0.364777 m/s, LOS rate: -0.357225 deg/s, posRepo size: 4 2021-08-13T14:15:17.570Z,1628864117.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:17.916Z,1628864117.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:17.916Z,1628864117.916 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:17.916Z,1628864117.916 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:17.917Z,1628864117.917 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:18.310Z,1628864118.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 082,000,0036D,186,80,80,5F,FF 2021-08-13T14:15:18.311Z,1628864118.311 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:18.311Z,1628864118.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:18.314Z,1628864118.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:18.713Z,1628864118.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:19.126Z,1628864119.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00372,186,80,80,9B,FF 2021-08-13T14:15:19.127Z,1628864119.127 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:19.190Z,1628864119.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:19.558Z,1628864119.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141519.84*5B 2021-08-13T14:15:19.586Z,1628864119.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 248.437858 deg, deltaT: 4.433025 s, approachRate: 0.067674 m/s, LOS rate: 0.097215 deg/s, posRepo size: 4 2021-08-13T14:15:21.975Z,1628864121.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:22.346Z,1628864122.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:22.346Z,1628864122.346 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:22.346Z,1628864122.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:22.347Z,1628864122.347 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:22.749Z,1628864122.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 075,000,00372,186,80,80,9B,FF 2021-08-13T14:15:22.749Z,1628864122.749 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:22.749Z,1628864122.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:22.751Z,1628864122.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:23.159Z,1628864123.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:23.557Z,1628864123.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00368,186,80,80,80,FF 2021-08-13T14:15:23.557Z,1628864123.557 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:23.615Z,1628864123.615 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:24.018Z,1628864124.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141524.28*53 2021-08-13T14:15:24.077Z,1628864124.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 246.910328 deg, deltaT: 4.425552 s, approachRate: -0.135576 m/s, LOS rate: -0.345162 deg/s, posRepo size: 4 2021-08-13T14:15:26.515Z,1628864126.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:26.789Z,1628864126.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:26.789Z,1628864126.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:26.789Z,1628864126.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:26.790Z,1628864126.790 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:27.195Z,1628864127.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 094,000,00368,186,80,80,80,FF 2021-08-13T14:15:27.195Z,1628864127.195 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:27.195Z,1628864127.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:27.198Z,1628864127.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:27.600Z,1628864127.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:28.018Z,1628864128.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00380,186,80,80,62,FF 2021-08-13T14:15:28.019Z,1628864128.019 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:28.112Z,1628864128.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:28.445Z,1628864128.445 [Micromodem](INFO): Nmea in: $SNTTA,0.038711,,,,141528.72*42 2021-08-13T14:15:28.513Z,1628864128.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 248.136483 deg, deltaT: 4.496710 s, approachRate: 0.320234 m/s, LOS rate: 0.272678 deg/s, posRepo size: 4 2021-08-13T14:15:30.877Z,1628864130.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:31.237Z,1628864131.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:31.237Z,1628864131.237 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:31.237Z,1628864131.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:31.238Z,1628864131.238 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:31.645Z,1628864131.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 07C,000,00380,186,80,80,62,FF 2021-08-13T14:15:31.645Z,1628864131.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:31.646Z,1628864131.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:31.647Z,1628864131.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:32.095Z,1628864132.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:32.461Z,1628864132.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,0037B,186,80,80,89,FF 2021-08-13T14:15:32.462Z,1628864132.462 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:32.533Z,1628864132.533 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:32.878Z,1628864132.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141533.17*59 2021-08-13T14:15:32.939Z,1628864132.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 245.980602 deg, deltaT: 4.421477 s, approachRate: -0.067850 m/s, LOS rate: -0.487593 deg/s, posRepo size: 4 2021-08-13T14:15:35.290Z,1628864135.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:35.681Z,1628864135.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:35.681Z,1628864135.681 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:35.681Z,1628864135.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:35.682Z,1628864135.682 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:36.101Z,1628864136.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A5,000,0037B,186,80,80,89,FF 2021-08-13T14:15:36.101Z,1628864136.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:36.101Z,1628864136.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:36.103Z,1628864136.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:36.520Z,1628864136.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:36.902Z,1628864136.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00382,186,80,80,A5,FF 2021-08-13T14:15:36.903Z,1628864136.903 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:36.921Z,1628864136.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:37.325Z,1628864137.325 [Micromodem](INFO): Nmea in: $SNTTA,0.059011,,,,141537.63*4C 2021-08-13T14:15:37.342Z,1628864137.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 247.873275 deg, deltaT: 4.388094 s, approachRate: 0.095714 m/s, LOS rate: 0.431320 deg/s, posRepo size: 4 2021-08-13T14:15:39.771Z,1628864139.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:40.129Z,1628864140.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:40.129Z,1628864140.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:40.129Z,1628864140.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:40.130Z,1628864140.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:40.529Z,1628864140.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 077,000,00382,186,80,80,A5,FF 2021-08-13T14:15:40.529Z,1628864140.529 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:40.529Z,1628864140.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:40.531Z,1628864140.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:40.936Z,1628864140.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:41.338Z,1628864141.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0038D,186,80,80,92,FF 2021-08-13T14:15:41.338Z,1628864141.338 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:41.363Z,1628864141.363 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:41.769Z,1628864141.769 [Micromodem](INFO): Nmea in: $SNTTA,0.062581,,,,141542.06*49 2021-08-13T14:15:41.824Z,1628864141.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 246.354514 deg, deltaT: 4.441157 s, approachRate: 0.148609 m/s, LOS rate: -0.341974 deg/s, posRepo size: 4 2021-08-13T14:15:44.211Z,1628864144.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:44.565Z,1628864144.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:44.565Z,1628864144.565 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:44.565Z,1628864144.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:44.566Z,1628864144.566 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:44.977Z,1628864144.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 099,000,0038D,186,80,80,92,FF 2021-08-13T14:15:44.977Z,1628864144.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:44.978Z,1628864144.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:44.979Z,1628864144.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:45.385Z,1628864145.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:45.781Z,1628864145.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00395,186,80,80,AF,FF 2021-08-13T14:15:45.781Z,1628864145.781 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:45.831Z,1628864145.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:46.229Z,1628864146.229 [Micromodem](INFO): Nmea in: $SNTTA,0.075922,,,,141546.51*4C 2021-08-13T14:15:46.267Z,1628864146.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 246.028905 deg, deltaT: 4.468558 s, approachRate: 0.107418 m/s, LOS rate: -0.072867 deg/s, posRepo size: 4 2021-08-13T14:15:48.643Z,1628864148.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:49.009Z,1628864149.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:49.009Z,1628864149.009 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:49.009Z,1628864149.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:49.010Z,1628864149.010 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:49.413Z,1628864149.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0AA,000,00395,186,80,80,AF,FF 2021-08-13T14:15:49.413Z,1628864149.413 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:49.413Z,1628864149.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:49.415Z,1628864149.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:49.831Z,1628864149.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:50.221Z,1628864150.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,0039E,186,80,80,66,FF 2021-08-13T14:15:50.222Z,1628864150.222 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:50.280Z,1628864150.280 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:50.666Z,1628864150.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141550.94*57 2021-08-13T14:15:50.692Z,1628864150.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 245.274989 deg, deltaT: 4.449080 s, approachRate: 0.121372 m/s, LOS rate: -0.169454 deg/s, posRepo size: 4 2021-08-13T14:15:53.076Z,1628864153.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:53.461Z,1628864153.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:53.461Z,1628864153.461 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:53.462Z,1628864153.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:53.463Z,1628864153.463 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:53.861Z,1628864153.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0BF,000,0039E,186,80,80,66,FF 2021-08-13T14:15:53.861Z,1628864153.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:53.862Z,1628864153.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:53.863Z,1628864153.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:15:54.265Z,1628864154.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:15:54.673Z,1628864154.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,003A9,186,80,80,7F,FF 2021-08-13T14:15:54.673Z,1628864154.673 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:15:54.770Z,1628864154.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:15:55.103Z,1628864155.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 243.678910 deg, deltaT: 4.489348 s, approachRate: 0.147015 m/s, LOS rate: -0.355526 deg/s, posRepo size: 4 2021-08-13T14:15:57.560Z,1628864157.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:15:57.902Z,1628864157.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:15:57.902Z,1628864157.902 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:15:57.902Z,1628864157.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:15:57.903Z,1628864157.903 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:15:58.301Z,1628864158.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0E0,000,003A9,186,80,80,7F,FF 2021-08-13T14:15:58.301Z,1628864158.301 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:15:58.301Z,1628864158.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:15:58.303Z,1628864158.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:00.366Z,1628864160.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:01.137Z,1628864161.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,7F,FF 2021-08-13T14:16:01.138Z,1628864161.138 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 9,186,80,80,7F,FF 2021-08-13T14:16:01.138Z,1628864161.138 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:16:03.176Z,1628864163.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:03.553Z,1628864163.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:03.553Z,1628864163.553 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:03.553Z,1628864163.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:03.554Z,1628864163.554 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:03.961Z,1628864163.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,7F,FF 2021-08-13T14:16:03.961Z,1628864163.961 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:03.961Z,1628864163.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:05.573Z,1628864165.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,041C9,186,80,80,A5,FF 2021-08-13T14:16:05.573Z,1628864165.573 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:05.631Z,1628864165.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:16:06.062Z,1628864166.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 972.960083 m, bearing: 242.381885 deg, deltaT: 10.861095 s, approachRate: 87.858559 m/s, LOS rate: -0.119419 deg/s, posRepo size: 4 2021-08-13T14:16:06.063Z,1628864166.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 972.96 m. Resuming terminal guidance. 2021-08-13T14:16:06.063Z,1628864166.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T14:16:06.477Z,1628864166.477 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T14:16:06.478Z,1628864166.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T14:16:06.478Z,1628864166.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T14:16:06.478Z,1628864166.478 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T14:16:06.479Z,1628864166.479 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T14:16:06.479Z,1628864166.479 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T14:16:06.486Z,1628864166.486 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T14:16:06.486Z,1628864166.486 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:16:06.486Z,1628864166.486 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T14:16:06.486Z,1628864166.486 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T14:16:06.486Z,1628864166.486 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T14:16:06.487Z,1628864166.487 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T14:16:06.487Z,1628864166.487 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T14:16:06.821Z,1628864166.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T14:16:06.821Z,1628864166.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T14:16:06.821Z,1628864166.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T14:16:06.821Z,1628864166.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T14:16:08.507Z,1628864168.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:08.861Z,1628864168.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:08.861Z,1628864168.861 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:08.861Z,1628864168.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:08.862Z,1628864168.862 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:09.265Z,1628864169.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 107,000,041C9,186,80,80,A5,FF 2021-08-13T14:16:09.265Z,1628864169.265 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:09.265Z,1628864169.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:09.666Z,1628864169.666 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:11.294Z,1628864171.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:12.110Z,1628864172.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,A5,FF 2021-08-13T14:16:12.110Z,1628864172.110 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 9,186,80,80,A5,FF 2021-08-13T14:16:12.110Z,1628864172.110 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:16:14.159Z,1628864174.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:14.521Z,1628864174.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:14.521Z,1628864174.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:14.521Z,1628864174.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:14.522Z,1628864174.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:14.925Z,1628864174.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,A5,FF 2021-08-13T14:16:14.925Z,1628864174.925 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:14.926Z,1628864174.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:16.970Z,1628864176.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:17.349Z,1628864177.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,07215,186,80,80,87,FF 2021-08-13T14:16:17.349Z,1628864177.349 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:17.805Z,1628864177.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1714.800049 m, bearing: 241.105814 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T14:16:17.806Z,1628864177.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 241.105814deg and heading rate command to 0 deg/s. 2021-08-13T14:16:20.219Z,1628864180.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:20.577Z,1628864180.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:20.577Z,1628864180.577 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:20.578Z,1628864180.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:20.578Z,1628864180.578 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:20.973Z,1628864180.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 10D,000,07215,186,80,80,87,FF 2021-08-13T14:16:20.973Z,1628864180.973 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:20.973Z,1628864180.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:20.974Z,1628864180.974 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:21.378Z,1628864181.378 [Micromodem](FAULT): Failed to receive CAREV within timeout 2021-08-13T14:16:21.378Z,1628864181.378 [Micromodem] Hardware Fault, FailCount= 1 2021-08-13T14:16:21.378Z,1628864181.378 [Micromodem](ERROR): Hardware Fault 2021-08-13T14:16:21.396Z,1628864181.396 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T14:16:21.396Z,1628864181.396 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T14:16:21.396Z,1628864181.396 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T14:16:21.396Z,1628864181.396 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T14:16:21.396Z,1628864181.396 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T14:16:21.516Z,1628864181.516 [CBIT](ERROR): Hardware Fault in component: Micromodem 2021-08-13T14:16:21.829Z,1628864181.829 [Micromodem](INFO): Powering down 2021-08-13T14:16:22.233Z,1628864182.233 [Micromodem](FAULT): LCB 1 fault: Software Overcurrent. 2021-08-13T14:16:22.234Z,1628864182.234 [Micromodem](FAULT): LCB 2 fault: Software Overcurrent. 2021-08-13T14:16:22.768Z,1628864182.768 [CBIT](INFO): Clearing failed state for component Micromodem 2021-08-13T14:16:22.768Z,1628864182.768 [Micromodem] No Fault, FailCount= 1 2021-08-13T14:16:23.070Z,1628864183.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:23.890Z,1628864183.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,186,80,80,87,FF 2021-08-13T14:16:23.891Z,1628864183.891 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,186,80,80,87,FF 2021-08-13T14:16:23.891Z,1628864183.891 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:16:25.533Z,1628864185.533 [Micromodem](INFO): Powering up 2021-08-13T14:16:25.533Z,1628864185.533 [Micromodem](DEBUG): Initializing Micromodem. 2021-08-13T14:16:25.600Z,1628864185.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:25.909Z,1628864185.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:25.909Z,1628864185.909 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:25.909Z,1628864185.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:25.910Z,1628864185.910 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:26.303Z,1628864186.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,186,80,80,87,FF 2021-08-13T14:16:26.303Z,1628864186.303 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:26.303Z,1628864186.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:28.115Z,1628864188.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:29.137Z,1628864189.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 5,186,80,80,87,FF 2021-08-13T14:16:29.138Z,1628864189.138 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 5,186,80,80,87,FF 2021-08-13T14:16:29.138Z,1628864189.138 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:16:30.778Z,1628864190.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:31.159Z,1628864191.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:31.159Z,1628864191.159 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:31.159Z,1628864191.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:31.160Z,1628864191.160 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:31.559Z,1628864191.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 5,186,80,80,87,FF 2021-08-13T14:16:31.559Z,1628864191.559 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:31.559Z,1628864191.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:32.375Z,1628864192.375 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:32.383Z,1628864192.383 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing 2021-08-13T14:16:32.384Z,1628864192.384 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-08-13T14:16:32.384Z,1628864192.384 [RDI_Pathfinder](ERROR): Communications Fault 2021-08-13T14:16:32.648Z,1628864192.648 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-08-13T14:16:32.860Z,1628864192.860 [RDI_Pathfinder](INFO): Powering down 2021-08-13T14:16:33.175Z,1628864193.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,0432B,186,80,80,B0,FF 2021-08-13T14:16:33.175Z,1628864193.175 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:33.598Z,1628864193.598 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T14:16:33.058804Z,RTC,RTC*58 2021-08-13T14:16:33.599Z,1628864193.599 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T14:16:33.058804Z,RTC,RTC*58 2021-08-13T14:16:33.660Z,1628864193.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 994.200012 m, bearing: 236.982593 deg, deltaT: 15.809018 s, approachRate: -45.581581 m/s, LOS rate: -0.260815 deg/s, posRepo size: 2 2021-08-13T14:16:33.662Z,1628864193.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 994.200012 m, bearing: 236.982593 deg, approachRate: -45.581581 m/s, LOS rate: -0.260815 deg/s, cmd update: -0.782444 deg/s, cmd heading: 241.105814 deg, new cmd heading: 241.105814 deg. 2021-08-13T14:16:33.740Z,1628864193.740 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-08-13T14:16:33.740Z,1628864193.740 [RDI_Pathfinder] No Fault, FailCount= 1 2021-08-13T14:16:34.008Z,1628864194.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:16:34.020Z,1628864194.020 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33 2021-08-13T14:16:34.409Z,1628864194.409 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31 2021-08-13T14:16:34.410Z,1628864194.410 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31 2021-08-13T14:16:34.981Z,1628864194.981 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33 2021-08-13T14:16:34.982Z,1628864194.982 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 2021-08-13T14:16:35.377Z,1628864195.377 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 2021-08-13T14:16:35.377Z,1628864195.377 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F 2021-08-13T14:16:35.774Z,1628864195.774 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D 2021-08-13T14:16:35.775Z,1628864195.775 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E 2021-08-13T14:16:35.850Z,1628864195.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:36.161Z,1628864196.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:36.161Z,1628864196.161 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:36.161Z,1628864196.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:36.162Z,1628864196.162 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:36.169Z,1628864196.169 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C 2021-08-13T14:16:36.171Z,1628864196.171 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47 2021-08-13T14:16:36.609Z,1628864196.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 077,000,0432B,186,80,80,B0,FF 2021-08-13T14:16:36.609Z,1628864196.609 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:36.609Z,1628864196.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:36.611Z,1628864196.611 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45 2021-08-13T14:16:36.611Z,1628864196.611 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63 2021-08-13T14:16:37.010Z,1628864197.010 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61 2021-08-13T14:16:37.010Z,1628864197.010 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A 2021-08-13T14:16:37.423Z,1628864197.423 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38 2021-08-13T14:16:37.423Z,1628864197.423 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,13,14,16,38*46 2021-08-13T14:16:37.818Z,1628864197.818 [Micromodem](INFO): Nmea in: $CACLK,2021,8,13,14,16,38*74 2021-08-13T14:16:37.820Z,1628864197.820 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-13T14:16:39Z*75 2021-08-13T14:16:38.002Z,1628864198.002 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 696616611B0000005D000004003E0000000000000000151D80030C5669C08C7A9723272E7CEE0DF75255FDFB6614D381711CD6B5A72EB91301B9F0282B50BD31 2021-08-13T14:16:38.002Z,1628864198.002 [Micromodem](INFO): Outgoing frame #2, 17 bytes: D0C72C4FC0E1FBB42F042F86D2922F7752 2021-08-13T14:16:38.003Z,1628864198.003 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-08-13T14:16:38.086Z,1628864198.086 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T14:16:38.086Z,1628864198.086 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T14:16:38.086Z,1628864198.086 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T14:16:38.086Z,1628864198.086 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T14:16:38.086Z,1628864198.086 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T14:16:38.265Z,1628864198.265 [Micromodem](INFO): Nmea in: $CATMG,2021-08-13T14:16:39.027163Z,USER_CMD,RTC*13 2021-08-13T14:16:38.265Z,1628864198.265 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-13T14:16:39.027163Z,USER_CMD,RTC*13 2021-08-13T14:16:38.266Z,1628864198.266 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-08-13T14:16:38.659Z,1628864198.659 [Micromodem](INFO): Nmea in: $CADRQ,141639,1,10,0,64,1*7E 2021-08-13T14:16:38.660Z,1628864198.660 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,696616611B0000005D000004003E0000000000000000151D80030C5669C08C7A9723272E7CEE0DF75255FDFB6614D381711CD6B5A72EB91301B9F0282B50BD31*45 2021-08-13T14:16:38.799Z,1628864198.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:39.062Z,1628864199.062 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-08-13T14:16:39.064Z,1628864199.064 [Micromodem](INFO): Nmea in: $CADRQ,141640,1,10,0,64,2*73 2021-08-13T14:16:39.064Z,1628864199.064 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,D0C72C4FC0E1FBB42F042F86D2922F7752*3B 2021-08-13T14:16:39.492Z,1628864199.492 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D 2021-08-13T14:16:39.493Z,1628864199.493 [Micromodem](INFO): Nmea in: $CATXP,81*7B 2021-08-13T14:16:41.545Z,1628864201.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:42.304Z,1628864202.304 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.141711 2021-08-13T14:16:42.305Z,1628864202.305 [Micromodem](INFO): Nmea in: $CATXF,81*6D 2021-08-13T14:16:42.307Z,1628864202.307 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,141640.578197,3,0,200,4000,14500,1,1,10,1,2,2,3,81,14500*5F 2021-08-13T14:16:44.353Z,1628864204.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:44.739Z,1628864204.739 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:44.739Z,1628864204.739 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:44.740Z,1628864204.740 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:44.741Z,1628864204.741 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:44.748Z,1628864204.748 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T14:16:44.753Z,1628864204.753 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-08-13T14:16:45.129Z,1628864205.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 077,000,0432B,186,80,80,B0,FF 2021-08-13T14:16:45.129Z,1628864205.129 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:45.129Z,1628864205.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:45.135Z,1628864205.135 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813141645.236275,06,32767,45,0103,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,25.4,7.61,18,-4.61,-01,-0.51,48,14500,4000*49 2021-08-13T14:16:45.136Z,1628864205.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:45.941Z,1628864205.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,002DA,186,80,80,B5,FF 2021-08-13T14:16:45.942Z,1628864205.942 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:45.947Z,1628864205.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:16:46.369Z,1628864206.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141646.66*5E 2021-08-13T14:16:46.391Z,1628864206.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 232.027755 deg, deltaT: 12.803370 s, approachRate: -77.159378 m/s, LOS rate: -0.386995 deg/s, posRepo size: 3 2021-08-13T14:16:46.392Z,1628864206.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 6.30 m. 2021-08-13T14:16:46.394Z,1628864206.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.300001 m, bearing: 232.027755 deg, approachRate: -77.159378 m/s, LOS rate: -0.386995 deg/s, cmd update: -1.160984 deg/s, cmd heading: 231.081052 deg, new cmd heading: 230.779374 deg. 2021-08-13T14:16:46.775Z,1628864206.775 [PowerOnly](INFO): Powering up loadControl 2021-08-13T14:16:46.834Z,1628864206.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T14:16:46.835Z,1628864206.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:16:46.835Z,1628864206.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T14:16:46.836Z,1628864206.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T14:16:46.836Z,1628864206.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T14:16:46.836Z,1628864206.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T14:16:47.197Z,1628864207.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T14:16:47.197Z,1628864207.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:16:47.197Z,1628864207.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T14:16:47.197Z,1628864207.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:16:48.799Z,1628864208.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:49.165Z,1628864209.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:49.165Z,1628864209.165 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:49.165Z,1628864209.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:49.166Z,1628864209.166 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:49.569Z,1628864209.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05D,000,002DA,186,80,80,B5,FF 2021-08-13T14:16:49.570Z,1628864209.570 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:49.570Z,1628864209.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:49.571Z,1628864209.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:49.973Z,1628864209.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:16:50.381Z,1628864210.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,002C0,184,80,80,9F,FF 2021-08-13T14:16:50.381Z,1628864210.381 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:50.493Z,1628864210.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:16:50.821Z,1628864210.821 [Micromodem](INFO): Nmea in: $SNTTA,0.014524,,,,141651.10*41 2021-08-13T14:16:50.905Z,1628864210.905 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-08-13T14:16:50.905Z,1628864210.905 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-08-13T14:16:50.905Z,1628864210.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-08-13T14:16:50.905Z,1628864210.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:16:50.905Z,1628864210.905 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-08-13T14:16:50.906Z,1628864210.906 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 2021-08-13T14:16:50.906Z,1628864210.906 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-08-13T14:16:50.906Z,1628864210.906 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-08-13T14:16:50.906Z,1628864210.906 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-08-13T14:16:50.913Z,1628864210.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 233.424502 deg, deltaT: 4.473605 s, approachRate: -0.348712 m/s, LOS rate: 0.312219 deg/s, posRepo size: 4 2021-08-13T14:16:50.913Z,1628864210.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.74 m. 2021-08-13T14:16:50.915Z,1628864210.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.740000 m, bearing: 233.424502 deg, approachRate: -0.348712 m/s, LOS rate: 0.312219 deg/s, cmd update: 0.936658 deg/s, cmd heading: 225.879355 deg, new cmd heading: 225.388799 deg. 2021-08-13T14:16:51.203Z,1628864211.203 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T141651: (41.552319, -70.708603) 2021-08-13T14:16:51.203Z,1628864211.203 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-08-13T14:16:51.203Z,1628864211.203 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-08-13T14:16:51.204Z,1628864211.204 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:16:51.204Z,1628864211.204 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-08-13T14:16:51.204Z,1628864211.204 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:16:51.204Z,1628864211.204 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-08-13T14:16:51.204Z,1628864211.204 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-08-13T14:16:51.204Z,1628864211.204 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-08-13T14:16:53.219Z,1628864213.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:53.607Z,1628864213.607 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:53.607Z,1628864213.607 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:53.608Z,1628864213.608 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:53.609Z,1628864213.609 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:54.017Z,1628864214.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEE,000,002C0,184,80,80,9F,FF 2021-08-13T14:16:54.017Z,1628864214.017 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:54.017Z,1628864214.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:54.019Z,1628864214.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:54.433Z,1628864214.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:16:54.825Z,1628864214.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,002B7,186,80,80,76,FF 2021-08-13T14:16:54.826Z,1628864214.826 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:54.846Z,1628864214.846 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:16:55.261Z,1628864215.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141655.54*5D 2021-08-13T14:16:55.283Z,1628864215.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 219.428351 deg, deltaT: 4.353014 s, approachRate: -0.124052 m/s, LOS rate: -3.215278 deg/s, posRepo size: 4 2021-08-13T14:16:55.284Z,1628864215.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.20 m. 2021-08-13T14:16:55.286Z,1628864215.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 219.428351 deg, approachRate: -0.124052 m/s, LOS rate: -3.215278 deg/s, cmd update: -9.645834 deg/s, cmd heading: 229.960324 deg, new cmd heading: 230.372717 deg. 2021-08-13T14:16:57.690Z,1628864217.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:16:58.055Z,1628864218.055 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:16:58.055Z,1628864218.055 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:16:58.055Z,1628864218.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:16:58.056Z,1628864218.056 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:16:58.479Z,1628864218.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A7,000,002B7,186,80,80,76,FF 2021-08-13T14:16:58.480Z,1628864218.480 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:16:58.480Z,1628864218.480 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:16:58.482Z,1628864218.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:16:58.865Z,1628864218.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:16:59.266Z,1628864219.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,002B8,186,80,80,AD,FF 2021-08-13T14:16:59.266Z,1628864219.266 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:16:59.291Z,1628864219.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:16:59.701Z,1628864219.701 [Micromodem](INFO): Nmea in: $SNTTA,0.017423,,,,141700.01*41 2021-08-13T14:16:59.743Z,1628864219.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 211.660923 deg, deltaT: 4.444191 s, approachRate: 0.013501 m/s, LOS rate: -1.747771 deg/s, posRepo size: 4 2021-08-13T14:16:59.744Z,1628864219.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.26 m. 2021-08-13T14:16:59.746Z,1628864219.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 211.660923 deg, approachRate: 0.013501 m/s, LOS rate: -1.747771 deg/s, cmd update: -5.243313 deg/s, cmd heading: 187.092318 deg, new cmd heading: 182.693171 deg. 2021-08-13T14:17:02.183Z,1628864222.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:02.524Z,1628864222.524 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:02.524Z,1628864222.524 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:02.525Z,1628864222.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:02.526Z,1628864222.526 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:02.902Z,1628864222.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A3,000,002B8,186,80,80,AD,FF 2021-08-13T14:17:02.902Z,1628864222.902 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:02.902Z,1628864222.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:02.904Z,1628864222.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:03.305Z,1628864223.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:03.705Z,1628864223.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,002B7,186,80,80,8D,FF 2021-08-13T14:17:03.706Z,1628864223.706 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:03.760Z,1628864223.760 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:17:04.169Z,1628864224.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141704.43*5E 2021-08-13T14:17:04.232Z,1628864224.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 195.376755 deg, deltaT: 4.469472 s, approachRate: -0.013424 m/s, LOS rate: -3.643421 deg/s, posRepo size: 4 2021-08-13T14:17:04.232Z,1628864224.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.20 m. 2021-08-13T14:17:04.234Z,1628864224.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 195.376755 deg, approachRate: -0.013424 m/s, LOS rate: -3.643421 deg/s, cmd update: -10.930263 deg/s, cmd heading: 163.784561 deg, new cmd heading: 161.189185 deg. 2021-08-13T14:17:06.623Z,1628864226.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:06.957Z,1628864226.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:06.957Z,1628864226.957 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:06.957Z,1628864226.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:06.958Z,1628864226.958 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:07.354Z,1628864227.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0C5,000,002B7,186,80,80,8D,FF 2021-08-13T14:17:07.354Z,1628864227.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:07.354Z,1628864227.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:07.356Z,1628864227.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:07.765Z,1628864227.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:08.185Z,1628864228.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,002B7,186,80,80,9B,FF 2021-08-13T14:17:08.185Z,1628864228.185 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:08.261Z,1628864228.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:17:08.605Z,1628864228.605 [Micromodem](INFO): Nmea in: $SNTTA,0.022079,,,,141708.88*45 2021-08-13T14:17:08.648Z,1628864228.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 204.960125 deg, deltaT: 4.500634 s, approachRate: 0.000000 m/s, LOS rate: 2.129338 deg/s, posRepo size: 4 2021-08-13T14:17:08.648Z,1628864228.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.20 m. 2021-08-13T14:17:08.649Z,1628864228.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.20 m. Cable present. 2021-08-13T14:17:08.649Z,1628864228.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-08-13T14:17:08.649Z,1628864228.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-08-13T14:17:08.650Z,1628864228.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1 2021-08-13T14:17:08.974Z,1628864228.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete. 2021-08-13T14:17:08.974Z,1628864228.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped 2021-08-13T14:17:08.974Z,1628864228.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2021-08-13T14:17:09.378Z,1628864229.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2021-08-13T14:17:09.379Z,1628864229.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:17:09.379Z,1628864229.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-08-13T14:17:09.379Z,1628864229.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:17:09.379Z,1628864229.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-08-13T14:17:09.379Z,1628864229.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-08-13T14:17:09.379Z,1628864229.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-08-13T14:17:09.380Z,1628864229.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:17:09.844Z,1628864229.844 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped 2021-08-13T14:17:09.844Z,1628864229.844 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal 2021-08-13T14:17:09.844Z,1628864229.844 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1 2021-08-13T14:17:09.845Z,1628864229.845 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T14:17:09.845Z,1628864229.845 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1 2021-08-13T14:17:09.845Z,1628864229.845 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1 2021-08-13T14:17:09.845Z,1628864229.845 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2021-08-13T14:17:09.845Z,1628864229.845 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-08-13T14:17:09.846Z,1628864229.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:17:09.847Z,1628864229.847 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1 2021-08-13T14:17:09.847Z,1628864229.847 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component. 2021-08-13T14:17:10.276Z,1628864230.276 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped 2021-08-13T14:17:10.276Z,1628864230.276 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T14:17:11.031Z,1628864231.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:11.401Z,1628864231.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:11.401Z,1628864231.401 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:11.401Z,1628864231.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:11.402Z,1628864231.402 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:11.407Z,1628864231.407 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T14:17:11.809Z,1628864231.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0A2,000,002B7,186,80,80,9B,FF 2021-08-13T14:17:11.810Z,1628864231.810 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:11.810Z,1628864231.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:11.813Z,1628864231.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:12.208Z,1628864232.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:12.609Z,1628864232.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,002B7,186,80,80,9B,FF 2021-08-13T14:17:12.609Z,1628864232.609 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:13.037Z,1628864233.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141713.34*58 2021-08-13T14:17:13.489Z,1628864233.489 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting. 2021-08-13T14:17:13.489Z,1628864233.489 [lineCaptureDepth:LineCapture:K.Wait] Stopped 2021-08-13T14:17:13.489Z,1628864233.489 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T14:17:13.489Z,1628864233.489 [lineCaptureDepth:LineCapture:L] Running Loop=1 2021-08-13T14:17:13.862Z,1628864233.862 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 2021-08-13T14:17:13.862Z,1628864233.862 [lineCaptureDepth:LineCapture:L] Stopped 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture] Stopped 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-08-13T14:17:13.865Z,1628864233.865 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:G] Stopped 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:H] Stopped 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T14:17:13.866Z,1628864233.866 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:17:13.867Z,1628864233.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T14:17:13.867Z,1628864233.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T14:17:13.867Z,1628864233.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T14:17:13.867Z,1628864233.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T14:17:13.867Z,1628864233.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T14:17:14.280Z,1628864234.280 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B 2021-08-13T14:17:14.281Z,1628864234.281 [lineCaptureDepth:Lap:B] Stopped 2021-08-13T14:17:14.281Z,1628864234.281 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-08-13T14:17:14.281Z,1628864234.281 [lineCaptureDepth:Lap:C] Running Loop=1 2021-08-13T14:17:14.667Z,1628864234.667 [lineCaptureDepth:Lap:C] Stopped 2021-08-13T14:17:14.667Z,1628864234.667 [lineCaptureDepth:Lap:D] Running Loop=1 2021-08-13T14:17:15.059Z,1628864235.059 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 2021-08-13T14:17:15.059Z,1628864235.059 [lineCaptureDepth:Lap:D] Stopped 2021-08-13T14:17:15.059Z,1628864235.059 [lineCaptureDepth:Lap:Docked] Running Loop=1 2021-08-13T14:17:15.059Z,1628864235.059 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked 2021-08-13T14:17:15.059Z,1628864235.059 [lineCaptureDepth:Lap:Docked:A] Running Loop=1 2021-08-13T14:17:15.487Z,1628864235.487 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2021-08-13T14:17:15.492Z,1628864235.492 [lineCaptureDepth:Lap:Docked:A] Stopped 2021-08-13T14:17:15.492Z,1628864235.492 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1 2021-08-13T14:17:15.492Z,1628864235.492 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2021-08-13T14:17:15.492Z,1628864235.492 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2021-08-13T14:17:15.493Z,1628864235.493 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m. 2021-08-13T14:17:15.493Z,1628864235.493 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree. 2021-08-13T14:17:15.494Z,1628864235.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:15.845Z,1628864235.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:15.845Z,1628864235.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:15.845Z,1628864235.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:15.846Z,1628864235.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:16.249Z,1628864236.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0BA,000,002B7,186,80,80,9B,FF 2021-08-13T14:17:16.250Z,1628864236.250 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:16.250Z,1628864236.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:16.251Z,1628864236.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:16.371Z,1628864236.371 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (2 active estimators). 2021-08-13T14:17:16.685Z,1628864236.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:17.053Z,1628864237.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,002B6,185,80,80,43,FF 2021-08-13T14:17:17.053Z,1628864237.053 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:17.509Z,1628864237.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141717.77*5B 2021-08-13T14:17:19.913Z,1628864239.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:20.285Z,1628864240.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:20.285Z,1628864240.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:20.285Z,1628864240.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:20.286Z,1628864240.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:20.721Z,1628864240.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA9,000,002B6,185,80,80,43,FF 2021-08-13T14:17:20.721Z,1628864240.721 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:20.721Z,1628864240.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:20.723Z,1628864240.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:21.069Z,1628864241.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:21.485Z,1628864241.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,002B8,188,80,80,65,FF 2021-08-13T14:17:21.485Z,1628864241.485 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:21.989Z,1628864241.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141722.26*59 2021-08-13T14:17:24.371Z,1628864244.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:24.722Z,1628864244.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:24.722Z,1628864244.722 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:24.723Z,1628864244.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:24.724Z,1628864244.724 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:25.133Z,1628864245.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DAC,000,002B8,188,80,80,65,FF 2021-08-13T14:17:25.133Z,1628864245.133 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:25.133Z,1628864245.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:25.135Z,1628864245.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:25.541Z,1628864245.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:25.945Z,1628864245.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,002BB,186,80,80,6A,FF 2021-08-13T14:17:25.946Z,1628864245.946 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:26.377Z,1628864246.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141726.66*59 2021-08-13T14:17:28.791Z,1628864248.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:29.177Z,1628864249.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:29.177Z,1628864249.177 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:29.178Z,1628864249.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:29.179Z,1628864249.179 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:29.577Z,1628864249.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0F0,000,002BB,186,80,80,6A,FF 2021-08-13T14:17:29.577Z,1628864249.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:29.577Z,1628864249.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:29.579Z,1628864249.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:29.984Z,1628864249.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:30.385Z,1628864250.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,002BF,186,80,80,AE,FF 2021-08-13T14:17:30.386Z,1628864250.386 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:30.833Z,1628864250.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141731.10*5E 2021-08-13T14:17:33.219Z,1628864253.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:33.645Z,1628864253.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:33.645Z,1628864253.645 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:33.645Z,1628864253.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:33.646Z,1628864253.646 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:34.045Z,1628864254.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 166,000,002BF,186,80,80,AE,FF 2021-08-13T14:17:34.045Z,1628864254.045 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:34.045Z,1628864254.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:34.047Z,1628864254.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:34.475Z,1628864254.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:34.853Z,1628864254.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,002E0,186,80,80,BE,FF 2021-08-13T14:17:34.853Z,1628864254.853 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:35.261Z,1628864255.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141735.57*59 2021-08-13T14:17:37.702Z,1628864257.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:38.057Z,1628864258.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:38.057Z,1628864258.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:38.057Z,1628864258.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:38.058Z,1628864258.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:38.485Z,1628864258.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 17D,000,002E0,186,80,80,BE,FF 2021-08-13T14:17:38.485Z,1628864258.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:38.485Z,1628864258.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:38.487Z,1628864258.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:38.929Z,1628864258.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:39.273Z,1628864259.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,002D5,185,80,80,B0,FF 2021-08-13T14:17:39.273Z,1628864259.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:39.701Z,1628864259.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141740.01*58 2021-08-13T14:17:42.162Z,1628864262.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:42.517Z,1628864262.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:42.517Z,1628864262.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:42.517Z,1628864262.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:42.518Z,1628864262.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:42.925Z,1628864262.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D7,000,002D5,185,80,80,B0,FF 2021-08-13T14:17:42.925Z,1628864262.925 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:42.925Z,1628864262.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:42.927Z,1628864262.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:43.324Z,1628864263.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:43.721Z,1628864263.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,002DC,187,80,80,B7,FF 2021-08-13T14:17:43.721Z,1628864263.721 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:44.173Z,1628864264.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141744.45*5C 2021-08-13T14:17:46.540Z,1628864266.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:46.929Z,1628864266.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:46.929Z,1628864266.929 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:46.929Z,1628864266.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:46.930Z,1628864266.930 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:47.425Z,1628864267.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1F2,000,002DC,187,80,80,B7,FF 2021-08-13T14:17:47.425Z,1628864267.425 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:47.425Z,1628864267.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:47.427Z,1628864267.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:47.801Z,1628864267.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:48.209Z,1628864268.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,002F9,188,80,80,B9,FF 2021-08-13T14:17:48.209Z,1628864268.210 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:48.617Z,1628864268.617 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:17:48.633Z,1628864268.633 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED. 2021-08-13T14:17:49.009Z,1628864269.009 [Micromodem](INFO): Nmea in: $SNTTA,0.034554,,,,141749.01*4C 2021-08-13T14:17:51.015Z,1628864271.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:51.397Z,1628864271.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:51.397Z,1628864271.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:51.397Z,1628864271.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:51.398Z,1628864271.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:51.805Z,1628864271.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 268,000,002F9,188,80,80,B9,FF 2021-08-13T14:17:51.805Z,1628864271.805 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:51.805Z,1628864271.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:51.807Z,1628864271.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:52.213Z,1628864272.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:52.613Z,1628864272.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,002EB,189,80,80,AC,FF 2021-08-13T14:17:52.613Z,1628864272.613 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:53.042Z,1628864273.042 [Micromodem](INFO): Nmea in: $SNTTA,0.004644,,,,141753.33*47 2021-08-13T14:17:55.498Z,1628864275.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:17:55.842Z,1628864275.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:17:55.842Z,1628864275.842 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:17:55.842Z,1628864275.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:17:55.843Z,1628864275.843 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:17:56.241Z,1628864276.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 307,000,002EB,189,80,80,AC,FF 2021-08-13T14:17:56.241Z,1628864276.241 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:17:56.242Z,1628864276.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:17:56.243Z,1628864276.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:17:56.690Z,1628864276.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:17:57.045Z,1628864277.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,334,000,0030B,189,80,80,B8,FF 2021-08-13T14:17:57.046Z,1628864277.046 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:17:57.505Z,1628864277.505 [Micromodem](INFO): Nmea in: $SNTTA,0.009285,,,,141757.77*47 2021-08-13T14:17:57.529Z,1628864277.529 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED. 2021-08-13T14:17:59.921Z,1628864279.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:00.308Z,1628864280.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:00.309Z,1628864280.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:00.309Z,1628864280.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:00.310Z,1628864280.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:00.689Z,1628864280.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 334,000,0030B,189,80,80,B8,FF 2021-08-13T14:18:00.690Z,1628864280.690 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:00.690Z,1628864280.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:00.693Z,1628864280.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:01.093Z,1628864281.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:01.534Z,1628864281.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,00316,188,80,80,B2,FF 2021-08-13T14:18:01.535Z,1628864281.535 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:01.949Z,1628864281.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141802.22*50 2021-08-13T14:18:04.367Z,1628864284.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:04.727Z,1628864284.727 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:04.727Z,1628864284.727 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:04.727Z,1628864284.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:04.729Z,1628864284.729 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:05.133Z,1628864285.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 395,000,00316,188,80,80,B2,FF 2021-08-13T14:18:05.133Z,1628864285.133 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:05.133Z,1628864285.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:05.135Z,1628864285.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:05.555Z,1628864285.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:05.945Z,1628864285.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40C,000,0030C,189,80,80,8C,FF 2021-08-13T14:18:05.946Z,1628864285.945 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:06.386Z,1628864286.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141806.66*54 2021-08-13T14:18:08.817Z,1628864288.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:09.170Z,1628864289.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:09.170Z,1628864289.170 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:09.170Z,1628864289.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:09.171Z,1628864289.171 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:09.577Z,1628864289.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 40C,000,0030C,189,80,80,8C,FF 2021-08-13T14:18:09.577Z,1628864289.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:09.577Z,1628864289.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:09.579Z,1628864289.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:10.053Z,1628864290.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:10.381Z,1628864290.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41E,000,00316,18A,80,80,A1,FF 2021-08-13T14:18:10.382Z,1628864290.382 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:10.830Z,1628864290.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141811.10*53 2021-08-13T14:18:13.259Z,1628864293.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:13.633Z,1628864293.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:13.633Z,1628864293.633 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:13.633Z,1628864293.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:13.634Z,1628864293.634 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:14.041Z,1628864294.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 41E,000,00316,18A,80,80,A1,FF 2021-08-13T14:18:14.041Z,1628864294.041 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:14.041Z,1628864294.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:14.043Z,1628864294.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:14.481Z,1628864294.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:14.833Z,1628864294.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47A,000,0031E,189,80,80,AF,FF 2021-08-13T14:18:14.834Z,1628864294.834 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:15.253Z,1628864295.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141815.57*54 2021-08-13T14:18:17.682Z,1628864297.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:18.057Z,1628864298.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:18.057Z,1628864298.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:18.057Z,1628864298.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:18.058Z,1628864298.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:18.481Z,1628864298.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 47A,000,0031E,189,80,80,AF,FF 2021-08-13T14:18:18.481Z,1628864298.481 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:18.481Z,1628864298.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:18.483Z,1628864298.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:18.870Z,1628864298.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:19.273Z,1628864299.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00329,189,80,80,B6,FF 2021-08-13T14:18:19.273Z,1628864299.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:19.689Z,1628864299.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141820.01*51 2021-08-13T14:18:21.297Z,1628864301.297 [PowerOnly](INFO): Powering down loadControl 2021-08-13T14:18:22.179Z,1628864302.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:22.514Z,1628864302.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:22.514Z,1628864302.514 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:22.515Z,1628864302.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:22.515Z,1628864302.515 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:22.909Z,1628864302.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00329,189,80,80,B6,FF 2021-08-13T14:18:22.909Z,1628864302.909 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:22.909Z,1628864302.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:22.911Z,1628864302.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:23.289Z,1628864303.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:23.703Z,1628864303.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00334,18A,80,80,A9,FF 2021-08-13T14:18:23.703Z,1628864303.703 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:24.197Z,1628864304.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141824.43*53 2021-08-13T14:18:26.576Z,1628864306.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:26.945Z,1628864306.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:26.945Z,1628864306.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:26.945Z,1628864306.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:26.946Z,1628864306.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:27.349Z,1628864307.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00334,18A,80,80,A9,FF 2021-08-13T14:18:27.349Z,1628864307.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:27.349Z,1628864307.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:27.351Z,1628864307.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:27.757Z,1628864307.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:28.185Z,1628864308.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0033E,189,80,80,AF,FF 2021-08-13T14:18:28.185Z,1628864308.185 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:28.597Z,1628864308.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141828.87*57 2021-08-13T14:18:31.011Z,1628864311.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:31.389Z,1628864311.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:31.389Z,1628864311.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:31.389Z,1628864311.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:31.390Z,1628864311.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:31.793Z,1628864311.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0033E,189,80,80,AF,FF 2021-08-13T14:18:31.793Z,1628864311.793 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:31.793Z,1628864311.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:31.795Z,1628864311.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:32.205Z,1628864312.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:32.601Z,1628864312.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00348,189,80,80,A6,FF 2021-08-13T14:18:32.602Z,1628864312.602 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:33.053Z,1628864313.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141833.32*53 2021-08-13T14:18:35.488Z,1628864315.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:35.833Z,1628864315.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:35.833Z,1628864315.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:35.833Z,1628864315.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:35.834Z,1628864315.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:36.257Z,1628864316.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00348,189,80,80,A6,FF 2021-08-13T14:18:36.257Z,1628864316.257 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:36.257Z,1628864316.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:36.259Z,1628864316.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:36.702Z,1628864316.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:37.020Z,1628864317.020 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00350,189,80,80,7B,FF 2021-08-13T14:18:37.021Z,1628864317.021 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:37.461Z,1628864317.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141837.78*59 2021-08-13T14:18:39.555Z,1628864319.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:39.909Z,1628864319.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:39.909Z,1628864319.909 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:39.909Z,1628864319.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:39.910Z,1628864319.910 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:40.281Z,1628864320.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00350,189,80,80,7B,FF 2021-08-13T14:18:40.281Z,1628864320.281 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:40.281Z,1628864320.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:40.283Z,1628864320.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:40.688Z,1628864320.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:41.087Z,1628864321.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00355,189,80,80,B4,FF 2021-08-13T14:18:41.087Z,1628864321.087 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:41.543Z,1628864321.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141841.81*5E 2021-08-13T14:18:43.953Z,1628864323.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:44.323Z,1628864324.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:44.323Z,1628864324.323 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:44.324Z,1628864324.324 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:44.326Z,1628864324.326 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:44.725Z,1628864324.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00355,189,80,80,B4,FF 2021-08-13T14:18:44.726Z,1628864324.726 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:44.726Z,1628864324.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:44.728Z,1628864324.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:45.136Z,1628864325.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:45.533Z,1628864325.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0035F,189,80,80,B2,FF 2021-08-13T14:18:45.533Z,1628864325.533 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:45.973Z,1628864325.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141846.25*57 2021-08-13T14:18:48.413Z,1628864328.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:48.741Z,1628864328.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:48.741Z,1628864328.741 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:48.741Z,1628864328.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:48.742Z,1628864328.742 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:49.161Z,1628864329.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0035F,189,80,80,B2,FF 2021-08-13T14:18:49.161Z,1628864329.161 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:49.161Z,1628864329.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:49.163Z,1628864329.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:49.601Z,1628864329.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:50.001Z,1628864330.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00360,189,80,80,B3,FF 2021-08-13T14:18:50.002Z,1628864330.002 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:50.444Z,1628864330.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141850.69*58 2021-08-13T14:18:52.834Z,1628864332.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:53.209Z,1628864333.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:53.209Z,1628864333.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:53.209Z,1628864333.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:53.210Z,1628864333.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:53.613Z,1628864333.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00360,189,80,80,B3,FF 2021-08-13T14:18:53.613Z,1628864333.613 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:53.613Z,1628864333.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:53.615Z,1628864333.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:54.029Z,1628864334.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:54.421Z,1628864334.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00371,189,80,80,9A,FF 2021-08-13T14:18:54.421Z,1628864334.421 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:54.864Z,1628864334.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141855.14*57 2021-08-13T14:18:57.289Z,1628864337.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:18:57.657Z,1628864337.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:18:57.657Z,1628864337.657 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:18:57.657Z,1628864337.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:18:57.658Z,1628864337.658 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:18:58.057Z,1628864338.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00371,189,80,80,9A,FF 2021-08-13T14:18:58.057Z,1628864338.057 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:18:58.057Z,1628864338.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:18:58.062Z,1628864338.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:18:58.478Z,1628864338.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:18:58.866Z,1628864338.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0037B,189,80,80,7B,FF 2021-08-13T14:18:58.866Z,1628864338.866 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:18:59.313Z,1628864339.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141859.59*52 2021-08-13T14:19:01.744Z,1628864341.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:02.149Z,1628864342.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:02.149Z,1628864342.149 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:02.149Z,1628864342.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:02.150Z,1628864342.150 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:02.483Z,1628864342.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0037B,189,80,80,7B,FF 2021-08-13T14:19:02.483Z,1628864342.483 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:02.483Z,1628864342.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:02.505Z,1628864342.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:02.899Z,1628864342.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:03.377Z,1628864343.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0037E,189,80,80,B9,FF 2021-08-13T14:19:03.378Z,1628864343.378 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:06.236Z,1628864346.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:06.541Z,1628864346.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:06.541Z,1628864346.541 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:06.541Z,1628864346.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:06.542Z,1628864346.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:06.957Z,1628864346.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0037E,189,80,80,B9,FF 2021-08-13T14:19:06.957Z,1628864346.957 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:06.957Z,1628864346.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:06.959Z,1628864346.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:07.357Z,1628864347.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:07.753Z,1628864347.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0038D,189,80,80,7D,FF 2021-08-13T14:19:07.753Z,1628864347.753 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:08.218Z,1628864348.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141908.48*57 2021-08-13T14:19:10.630Z,1628864350.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:10.989Z,1628864350.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:10.990Z,1628864350.990 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:10.990Z,1628864350.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:10.991Z,1628864350.991 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:11.402Z,1628864351.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0038D,189,80,80,7D,FF 2021-08-13T14:19:11.402Z,1628864351.402 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:11.402Z,1628864351.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:11.404Z,1628864351.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:11.803Z,1628864351.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:12.220Z,1628864352.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00396,18A,80,80,B5,FF 2021-08-13T14:19:12.220Z,1628864352.220 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:12.626Z,1628864352.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141912.93*5A 2021-08-13T14:19:15.063Z,1628864355.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:15.477Z,1628864355.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:15.477Z,1628864355.477 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:15.477Z,1628864355.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:15.478Z,1628864355.478 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:15.860Z,1628864355.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00396,18A,80,80,B5,FF 2021-08-13T14:19:15.860Z,1628864355.860 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:15.861Z,1628864355.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:15.862Z,1628864355.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:16.279Z,1628864356.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:16.649Z,1628864356.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003A0,189,80,80,BE,FF 2021-08-13T14:19:16.650Z,1628864356.649 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:17.073Z,1628864357.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141917.39*5F 2021-08-13T14:19:19.526Z,1628864359.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:19.885Z,1628864359.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:19.886Z,1628864359.886 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:19.886Z,1628864359.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:19.886Z,1628864359.886 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:20.286Z,1628864360.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003A0,189,80,80,BE,FF 2021-08-13T14:19:20.286Z,1628864360.286 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:20.286Z,1628864360.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:20.289Z,1628864360.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:20.687Z,1628864360.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:21.098Z,1628864361.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003A7,189,80,80,AA,FF 2021-08-13T14:19:21.098Z,1628864361.098 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:21.537Z,1628864361.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141921.81*59 2021-08-13T14:19:23.939Z,1628864363.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:24.334Z,1628864364.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:24.334Z,1628864364.334 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:24.334Z,1628864364.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:24.335Z,1628864364.335 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:24.725Z,1628864364.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003A7,189,80,80,AA,FF 2021-08-13T14:19:24.725Z,1628864364.725 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:24.725Z,1628864364.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:24.727Z,1628864364.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:25.138Z,1628864365.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:25.529Z,1628864365.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003B4,189,80,80,83,FF 2021-08-13T14:19:25.530Z,1628864365.530 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:25.973Z,1628864365.973 [Micromodem](INFO): Nmea in: $SNTTA,0.015028,,,,141926.25*40 2021-08-13T14:19:28.376Z,1628864368.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:28.841Z,1628864368.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:28.841Z,1628864368.841 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:28.841Z,1628864368.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:28.842Z,1628864368.842 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:29.198Z,1628864369.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003B4,189,80,80,83,FF 2021-08-13T14:19:29.198Z,1628864369.198 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:29.198Z,1628864369.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:29.201Z,1628864369.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:29.597Z,1628864369.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:30.006Z,1628864370.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003BF,189,80,80,A4,FF 2021-08-13T14:19:30.007Z,1628864370.007 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:30.425Z,1628864370.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141930.73*54 2021-08-13T14:19:32.830Z,1628864372.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:33.205Z,1628864373.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:33.205Z,1628864373.205 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:33.205Z,1628864373.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:33.206Z,1628864373.206 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:33.609Z,1628864373.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003BF,189,80,80,A4,FF 2021-08-13T14:19:33.609Z,1628864373.609 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:33.609Z,1628864373.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:33.611Z,1628864373.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:34.025Z,1628864374.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:34.421Z,1628864374.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40D,000,003D2,18A,80,80,77,FF 2021-08-13T14:19:34.421Z,1628864374.421 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:34.854Z,1628864374.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141935.14*50 2021-08-13T14:19:37.265Z,1628864377.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:37.649Z,1628864377.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:37.649Z,1628864377.649 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:37.649Z,1628864377.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:37.650Z,1628864377.650 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:38.049Z,1628864378.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 40D,000,003D2,18A,80,80,77,FF 2021-08-13T14:19:38.049Z,1628864378.049 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:38.050Z,1628864378.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:38.051Z,1628864378.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:38.481Z,1628864378.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:38.870Z,1628864378.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D2,189,80,80,A5,FF 2021-08-13T14:19:38.871Z,1628864378.871 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:39.297Z,1628864379.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141939.58*54 2021-08-13T14:19:41.765Z,1628864381.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:42.112Z,1628864382.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:42.113Z,1628864382.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:42.114Z,1628864382.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:42.115Z,1628864382.115 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:42.521Z,1628864382.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003D2,189,80,80,A5,FF 2021-08-13T14:19:42.521Z,1628864382.521 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:42.521Z,1628864382.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:42.523Z,1628864382.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:42.913Z,1628864382.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:43.317Z,1628864383.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44D,000,003E9,18A,80,80,8E,FF 2021-08-13T14:19:43.318Z,1628864383.318 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:43.729Z,1628864383.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141944.05*56 2021-08-13T14:19:46.206Z,1628864386.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:46.541Z,1628864386.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:46.541Z,1628864386.541 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:46.541Z,1628864386.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:46.542Z,1628864386.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:46.953Z,1628864386.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 44D,000,003E9,18A,80,80,8E,FF 2021-08-13T14:19:46.953Z,1628864386.953 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:46.953Z,1628864386.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:46.955Z,1628864386.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:47.345Z,1628864387.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:47.750Z,1628864387.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F3,000,003DF,189,80,80,79,FF 2021-08-13T14:19:47.750Z,1628864387.750 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:48.197Z,1628864388.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141948.48*53 2021-08-13T14:19:50.583Z,1628864390.583 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:19:50.594Z,1628864390.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:50.981Z,1628864390.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:50.981Z,1628864390.981 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:50.981Z,1628864390.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:50.982Z,1628864390.982 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:51.399Z,1628864391.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4F3,000,003DF,189,80,80,79,FF 2021-08-13T14:19:51.399Z,1628864391.399 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:51.399Z,1628864391.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:51.401Z,1628864391.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:51.819Z,1628864391.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:52.201Z,1628864392.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EE,189,80,80,AD,FF 2021-08-13T14:19:52.202Z,1628864392.202 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:52.649Z,1628864392.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141952.93*5E 2021-08-13T14:19:55.067Z,1628864395.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:55.462Z,1628864395.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:55.462Z,1628864395.462 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:55.462Z,1628864395.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:55.464Z,1628864395.464 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:19:55.861Z,1628864395.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,003EE,189,80,80,AD,FF 2021-08-13T14:19:55.861Z,1628864395.861 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:19:55.861Z,1628864395.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:19:55.863Z,1628864395.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:19:56.241Z,1628864396.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:19:56.641Z,1628864396.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B8,000,003F8,189,80,80,9A,FF 2021-08-13T14:19:56.642Z,1628864396.642 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:19:57.069Z,1628864397.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141957.39*5B 2021-08-13T14:19:59.518Z,1628864399.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:19:59.873Z,1628864399.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:19:59.874Z,1628864399.874 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:19:59.874Z,1628864399.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:19:59.875Z,1628864399.875 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:00.277Z,1628864400.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4B8,000,003F8,189,80,80,9A,FF 2021-08-13T14:20:00.277Z,1628864400.277 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:00.277Z,1628864400.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:00.279Z,1628864400.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:00.685Z,1628864400.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:01.081Z,1628864401.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,489,000,00402,18A,80,80,A6,FF 2021-08-13T14:20:01.082Z,1628864401.082 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:01.530Z,1628864401.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142001.80*50 2021-08-13T14:20:03.940Z,1628864403.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:04.313Z,1628864404.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:04.313Z,1628864404.313 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:04.313Z,1628864404.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:04.314Z,1628864404.314 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:04.685Z,1628864404.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 489,000,00402,18A,80,80,A6,FF 2021-08-13T14:20:04.685Z,1628864404.685 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:04.686Z,1628864404.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:04.687Z,1628864404.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:05.102Z,1628864405.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:05.546Z,1628864405.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,410,000,00521,189,80,80,61,FF 2021-08-13T14:20:05.546Z,1628864405.546 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:05.981Z,1628864405.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142006.21*5C 2021-08-13T14:20:08.396Z,1628864408.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:08.757Z,1628864408.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:08.757Z,1628864408.757 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:08.757Z,1628864408.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:08.758Z,1628864408.758 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:09.166Z,1628864409.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 410,000,00521,189,80,80,61,FF 2021-08-13T14:20:09.166Z,1628864409.166 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:09.166Z,1628864409.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:09.168Z,1628864409.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:09.565Z,1628864409.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:09.965Z,1628864409.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,476,000,00412,189,80,80,91,FF 2021-08-13T14:20:09.966Z,1628864409.966 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:10.414Z,1628864410.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142010.69*57 2021-08-13T14:20:12.491Z,1628864412.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:12.805Z,1628864412.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:12.805Z,1628864412.805 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:12.805Z,1628864412.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:12.806Z,1628864412.806 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:13.201Z,1628864413.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 476,000,00412,189,80,80,91,FF 2021-08-13T14:20:13.201Z,1628864413.201 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:13.201Z,1628864413.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:13.203Z,1628864413.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:13.617Z,1628864413.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:14.468Z,1628864414.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142014.73*58 2021-08-13T14:20:15.249Z,1628864415.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:16.845Z,1628864416.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,189,80,80,91,FF 2021-08-13T14:20:16.845Z,1628864416.845 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,189,80,80,91,FF 2021-08-13T14:20:16.845Z,1628864416.845 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:20:18.150Z,1628864418.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:18.427Z,1628864418.427 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:18.427Z,1628864418.427 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:18.427Z,1628864418.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:18.428Z,1628864418.428 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:18.826Z,1628864418.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,189,80,80,91,FF 2021-08-13T14:20:18.826Z,1628864418.826 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:18.826Z,1628864418.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:18.827Z,1628864418.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:19.336Z,1628864419.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:19.688Z,1628864419.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,48B,000,00427,189,80,80,9F,FF 2021-08-13T14:20:19.689Z,1628864419.689 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:20.137Z,1628864420.137 [Micromodem](INFO): Nmea in: $SNTTA,0.032917,,,,142020.35*4D 2021-08-13T14:20:22.619Z,1628864422.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:22.902Z,1628864422.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:22.902Z,1628864422.902 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:22.902Z,1628864422.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:22.903Z,1628864422.903 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:23.297Z,1628864423.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 48B,000,00427,189,80,80,9F,FF 2021-08-13T14:20:23.297Z,1628864423.297 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:23.298Z,1628864423.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:23.299Z,1628864423.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:23.709Z,1628864423.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:24.137Z,1628864424.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EE,000,00434,189,80,80,4B,FF 2021-08-13T14:20:24.138Z,1628864424.138 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:24.557Z,1628864424.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142024.82*55 2021-08-13T14:20:26.955Z,1628864426.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:27.341Z,1628864427.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:27.341Z,1628864427.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:27.341Z,1628864427.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:27.342Z,1628864427.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:27.749Z,1628864427.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4EE,000,00434,189,80,80,4B,FF 2021-08-13T14:20:27.749Z,1628864427.749 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:27.749Z,1628864427.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:27.751Z,1628864427.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:28.188Z,1628864428.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:28.561Z,1628864428.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,467,000,0043D,189,80,80,86,FF 2021-08-13T14:20:28.561Z,1628864428.561 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:28.985Z,1628864428.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142029.27*57 2021-08-13T14:20:31.474Z,1628864431.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:31.917Z,1628864431.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:31.917Z,1628864431.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:31.917Z,1628864431.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:31.918Z,1628864431.918 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:32.217Z,1628864432.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 467,000,0043D,189,80,80,86,FF 2021-08-13T14:20:32.217Z,1628864432.217 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:32.218Z,1628864432.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:32.219Z,1628864432.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:32.605Z,1628864432.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:32.997Z,1628864432.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,465,000,0044F,189,80,80,80,FF 2021-08-13T14:20:32.998Z,1628864432.998 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:33.430Z,1628864433.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142033.74*5A 2021-08-13T14:20:33.884Z,1628864433.884 [DDM](ERROR): Could not parse whisker state 2021-08-13T14:20:35.881Z,1628864435.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:36.242Z,1628864436.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:36.242Z,1628864436.242 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:36.242Z,1628864436.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:36.243Z,1628864436.243 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:36.652Z,1628864436.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 465,000,0044F,189,80,80,80,FF 2021-08-13T14:20:36.653Z,1628864436.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:36.653Z,1628864436.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:36.654Z,1628864436.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:37.045Z,1628864437.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:37.464Z,1628864437.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F3,000,00451,189,80,80,A1,FF 2021-08-13T14:20:37.465Z,1628864437.465 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:37.874Z,1628864437.874 [Micromodem](INFO): Nmea in: $SNTTA,0.018899,,,,142038.18*44 2021-08-13T14:20:40.316Z,1628864440.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:40.682Z,1628864440.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:40.683Z,1628864440.683 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:40.683Z,1628864440.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:40.684Z,1628864440.684 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:41.081Z,1628864441.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 4F3,000,00451,189,80,80,A1,FF 2021-08-13T14:20:41.082Z,1628864441.082 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:41.082Z,1628864441.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:41.084Z,1628864441.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:41.521Z,1628864441.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:41.894Z,1628864441.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00458,189,80,80,83,FF 2021-08-13T14:20:41.894Z,1628864441.894 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:42.333Z,1628864442.333 [Micromodem](INFO): Nmea in: $SNTTA,0.021608,,,,142042.61*4B 2021-08-13T14:20:43.661Z,1628864443.661 [CBIT](IMPORTANT): Beginning ground fault scan 2021-08-13T14:20:44.554Z,1628864444.554 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:44.813Z,1628864444.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:45.141Z,1628864445.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:45.141Z,1628864445.141 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:45.141Z,1628864445.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:45.142Z,1628864445.142 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:45.559Z,1628864445.559 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:45.581Z,1628864445.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00458,189,80,80,83,FF 2021-08-13T14:20:45.581Z,1628864445.581 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:45.581Z,1628864445.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:45.583Z,1628864445.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:45.960Z,1628864445.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:46.354Z,1628864446.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00465,189,80,80,77,FF 2021-08-13T14:20:46.355Z,1628864446.355 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:46.562Z,1628864446.562 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:46.817Z,1628864446.817 [Micromodem](INFO): Nmea in: $SNTTA,0.022226,,,,142047.11*42 2021-08-13T14:20:47.566Z,1628864447.566 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:48.570Z,1628864448.570 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:49.202Z,1628864449.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:49.575Z,1628864449.575 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:49.579Z,1628864449.579 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:49.579Z,1628864449.579 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:49.580Z,1628864449.580 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:49.581Z,1628864449.581 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:49.977Z,1628864449.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00465,189,80,80,77,FF 2021-08-13T14:20:49.977Z,1628864449.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:49.978Z,1628864449.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:49.979Z,1628864449.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:50.392Z,1628864450.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:50.578Z,1628864450.578 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:50.798Z,1628864450.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00470,18A,80,80,7D,FF 2021-08-13T14:20:50.798Z,1628864450.798 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:51.238Z,1628864451.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142051.50*58 2021-08-13T14:20:51.582Z,1628864451.582 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:52.586Z,1628864452.586 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:53.590Z,1628864453.590 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:53.681Z,1628864453.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:54.021Z,1628864454.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:54.021Z,1628864454.021 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:54.021Z,1628864454.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:54.022Z,1628864454.022 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:54.430Z,1628864454.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00470,18A,80,80,7D,FF 2021-08-13T14:20:54.430Z,1628864454.430 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:54.431Z,1628864454.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:54.436Z,1628864454.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:54.596Z,1628864454.596 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2021-08-13T14:20:54.833Z,1628864454.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:54.925Z,1628864454.925 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.005876 CHAN A1 (24V): -0.024665 CHAN A2 (12V): -0.004961 CHAN A3 (5V): -0.001265 CHAN B0 (3.3V): 0.000417 CHAN B1 (3.15aV): 0.000311 CHAN B2 (3.15bV): 0.000737 CHAN B3 (GND): 0.002021 OPEN: 0.006866 Full Scale Calc: 4.765 mA, -1.589 mA 2021-08-13T14:20:55.242Z,1628864455.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00478,189,80,80,76,FF 2021-08-13T14:20:55.242Z,1628864455.242 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:20:55.657Z,1628864455.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142055.96*56 2021-08-13T14:20:58.134Z,1628864458.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:20:58.484Z,1628864458.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:20:58.484Z,1628864458.484 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:20:58.485Z,1628864458.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:20:58.486Z,1628864458.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:20:58.874Z,1628864458.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00478,189,80,80,76,FF 2021-08-13T14:20:58.874Z,1628864458.874 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:20:58.874Z,1628864458.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:20:58.877Z,1628864458.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:20:59.285Z,1628864459.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:20:59.681Z,1628864459.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0047E,189,80,80,50,FF 2021-08-13T14:20:59.682Z,1628864459.682 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:00.146Z,1628864460.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142100.40*5C 2021-08-13T14:21:02.545Z,1628864462.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:02.917Z,1628864462.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:02.917Z,1628864462.917 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:02.917Z,1628864462.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:02.918Z,1628864462.918 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:03.313Z,1628864463.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0047E,189,80,80,50,FF 2021-08-13T14:21:03.314Z,1628864463.314 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:03.314Z,1628864463.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:03.315Z,1628864463.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:03.721Z,1628864463.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:04.156Z,1628864464.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00489,189,80,80,49,FF 2021-08-13T14:21:04.158Z,1628864464.158 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:04.549Z,1628864464.549 [Micromodem](INFO): Nmea in: $SNTTA,0.023413,,,,142104.84*49 2021-08-13T14:21:06.966Z,1628864466.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:07.356Z,1628864467.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:07.356Z,1628864467.356 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:07.357Z,1628864467.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:07.357Z,1628864467.357 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:07.765Z,1628864467.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00489,189,80,80,49,FF 2021-08-13T14:21:07.765Z,1628864467.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:07.765Z,1628864467.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:07.767Z,1628864467.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:08.192Z,1628864468.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:08.569Z,1628864468.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00495,189,80,80,75,FF 2021-08-13T14:21:08.570Z,1628864468.570 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:09.033Z,1628864469.033 [Micromodem](INFO): Nmea in: $SNTTA,0.023953,,,,142109.29*4A 2021-08-13T14:21:11.484Z,1628864471.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:11.839Z,1628864471.839 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:11.839Z,1628864471.839 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:11.840Z,1628864471.840 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:11.841Z,1628864471.841 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:12.225Z,1628864472.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00495,189,80,80,75,FF 2021-08-13T14:21:12.225Z,1628864472.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:12.225Z,1628864472.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:12.227Z,1628864472.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:12.608Z,1628864472.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:12.677Z,1628864472.677 [CTD_Seabird](ERROR): Failed to parse device response: ,23.9201,4.75624,4783.41 2021-08-13T14:21:13.009Z,1628864473.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0049F,189,80,80,86,FF 2021-08-13T14:21:13.010Z,1628864473.010 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:13.429Z,1628864473.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142113.75*58 2021-08-13T14:21:15.851Z,1628864475.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:16.250Z,1628864476.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:16.250Z,1628864476.250 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:16.251Z,1628864476.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:16.251Z,1628864476.251 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:16.645Z,1628864476.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0049F,189,80,80,86,FF 2021-08-13T14:21:16.645Z,1628864476.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:16.645Z,1628864476.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:16.647Z,1628864476.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:17.053Z,1628864477.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:17.475Z,1628864477.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004AA,188,80,80,74,FF 2021-08-13T14:21:17.475Z,1628864477.475 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:17.891Z,1628864477.891 [Micromodem](INFO): Nmea in: $SNTTA,0.026565,,,,142118.17*4B 2021-08-13T14:21:20.319Z,1628864480.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:20.685Z,1628864480.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:20.685Z,1628864480.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:20.685Z,1628864480.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:20.686Z,1628864480.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:21.065Z,1628864481.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004AA,188,80,80,74,FF 2021-08-13T14:21:21.065Z,1628864481.065 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:21.065Z,1628864481.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:21.067Z,1628864481.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:21.508Z,1628864481.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:21.938Z,1628864481.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004AF,189,80,80,6F,FF 2021-08-13T14:21:21.938Z,1628864481.938 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:22.357Z,1628864482.357 [Micromodem](INFO): Nmea in: $SNTTA,0.025026,,,,142122.59*49 2021-08-13T14:21:24.769Z,1628864484.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:25.129Z,1628864485.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:25.129Z,1628864485.129 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:25.129Z,1628864485.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:25.130Z,1628864485.130 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:25.537Z,1628864485.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004AF,189,80,80,6F,FF 2021-08-13T14:21:25.537Z,1628864485.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:25.537Z,1628864485.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:25.539Z,1628864485.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:25.944Z,1628864485.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:26.341Z,1628864486.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004B8,189,80,80,84,FF 2021-08-13T14:21:26.341Z,1628864486.341 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:26.782Z,1628864486.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142127.06*5B 2021-08-13T14:21:29.194Z,1628864489.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:29.573Z,1628864489.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:29.573Z,1628864489.573 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:29.573Z,1628864489.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:29.574Z,1628864489.574 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:29.977Z,1628864489.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004B8,189,80,80,84,FF 2021-08-13T14:21:29.977Z,1628864489.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:29.977Z,1628864489.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:29.979Z,1628864489.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:30.397Z,1628864490.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:30.785Z,1628864490.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004C4,189,80,80,59,FF 2021-08-13T14:21:30.786Z,1628864490.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:31.225Z,1628864491.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142131.50*5F 2021-08-13T14:21:33.640Z,1628864493.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:34.025Z,1628864494.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:34.025Z,1628864494.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:34.025Z,1628864494.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:34.026Z,1628864494.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:34.475Z,1628864494.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004C4,189,80,80,59,FF 2021-08-13T14:21:34.475Z,1628864494.475 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:34.475Z,1628864494.475 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:34.477Z,1628864494.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:34.805Z,1628864494.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:35.204Z,1628864495.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004D0,18A,80,80,9B,FF 2021-08-13T14:21:35.204Z,1628864495.204 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:35.723Z,1628864495.723 [Micromodem](INFO): Nmea in: $SNTTA,0.037609,,,,142136.00*48 2021-08-13T14:21:37.724Z,1628864497.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:38.070Z,1628864498.070 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:38.070Z,1628864498.070 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:38.070Z,1628864498.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:38.071Z,1628864498.071 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:38.480Z,1628864498.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004D0,18A,80,80,9B,FF 2021-08-13T14:21:38.481Z,1628864498.481 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:38.481Z,1628864498.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:38.482Z,1628864498.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:38.862Z,1628864498.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:39.273Z,1628864499.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004DB,189,80,80,84,FF 2021-08-13T14:21:39.274Z,1628864499.274 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:39.697Z,1628864499.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142140.01*5D 2021-08-13T14:21:42.149Z,1628864502.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:42.525Z,1628864502.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:42.525Z,1628864502.525 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:42.525Z,1628864502.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:42.526Z,1628864502.526 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:42.921Z,1628864502.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004DB,189,80,80,84,FF 2021-08-13T14:21:42.921Z,1628864502.921 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:42.921Z,1628864502.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:42.923Z,1628864502.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:43.315Z,1628864503.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:43.713Z,1628864503.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004E3,189,80,80,9A,FF 2021-08-13T14:21:43.713Z,1628864503.713 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:44.157Z,1628864504.157 [Micromodem](INFO): Nmea in: $SNTTA,0.455852,,,,142144.45*4C 2021-08-13T14:21:46.544Z,1628864506.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:46.935Z,1628864506.935 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:46.935Z,1628864506.935 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:46.935Z,1628864506.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:46.936Z,1628864506.936 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:47.377Z,1628864507.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004E3,189,80,80,9A,FF 2021-08-13T14:21:47.377Z,1628864507.377 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:47.377Z,1628864507.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:47.379Z,1628864507.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:47.785Z,1628864507.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:48.205Z,1628864508.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004E8,189,80,80,A3,FF 2021-08-13T14:21:48.206Z,1628864508.206 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:48.601Z,1628864508.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142148.90*5D 2021-08-13T14:21:50.999Z,1628864510.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:51.393Z,1628864511.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:51.393Z,1628864511.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:51.393Z,1628864511.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:51.394Z,1628864511.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:51.797Z,1628864511.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004E8,189,80,80,A3,FF 2021-08-13T14:21:51.798Z,1628864511.798 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:51.798Z,1628864511.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:51.799Z,1628864511.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:52.222Z,1628864512.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:52.609Z,1628864512.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004F3,189,80,80,98,FF 2021-08-13T14:21:52.610Z,1628864512.610 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:53.041Z,1628864513.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142153.33*5E 2021-08-13T14:21:55.500Z,1628864515.500 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-08-13T14:21:55.518Z,1628864515.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:21:55.829Z,1628864515.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:21:55.829Z,1628864515.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:21:55.830Z,1628864515.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:21:55.830Z,1628864515.830 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:21:56.253Z,1628864516.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,004F3,189,80,80,98,FF 2021-08-13T14:21:56.253Z,1628864516.253 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:21:56.253Z,1628864516.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:21:56.255Z,1628864516.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:21:56.645Z,1628864516.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:21:57.054Z,1628864517.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00502,189,80,80,58,FF 2021-08-13T14:21:57.054Z,1628864517.054 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:21:57.489Z,1628864517.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142157.78*55 2021-08-13T14:21:59.925Z,1628864519.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:00.253Z,1628864520.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:00.253Z,1628864520.253 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:00.253Z,1628864520.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:00.254Z,1628864520.254 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:00.657Z,1628864520.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00502,189,80,80,58,FF 2021-08-13T14:22:00.657Z,1628864520.657 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:00.657Z,1628864520.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:00.659Z,1628864520.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:01.171Z,1628864521.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:01.542Z,1628864521.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00509,189,80,80,B9,FF 2021-08-13T14:22:01.542Z,1628864521.542 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:01.965Z,1628864521.965 [Micromodem](INFO): Nmea in: $SNTTA,0.026230,,,,142202.18*4B 2021-08-13T14:22:04.388Z,1628864524.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:04.721Z,1628864524.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:04.721Z,1628864524.721 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:04.721Z,1628864524.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:04.722Z,1628864524.722 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:05.130Z,1628864525.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00509,189,80,80,B9,FF 2021-08-13T14:22:05.130Z,1628864525.130 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:05.130Z,1628864525.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:05.133Z,1628864525.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:05.533Z,1628864525.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:05.954Z,1628864525.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00513,189,80,80,44,FF 2021-08-13T14:22:05.955Z,1628864525.955 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:06.373Z,1628864526.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142206.66*5D 2021-08-13T14:22:08.793Z,1628864528.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:09.166Z,1628864529.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:09.166Z,1628864529.166 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:09.166Z,1628864529.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:09.166Z,1628864529.166 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:09.569Z,1628864529.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00513,189,80,80,44,FF 2021-08-13T14:22:09.569Z,1628864529.569 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:09.570Z,1628864529.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:09.571Z,1628864529.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:09.979Z,1628864529.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:10.377Z,1628864530.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0051C,189,80,80,7B,FF 2021-08-13T14:22:10.378Z,1628864530.378 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:10.822Z,1628864530.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142211.09*52 2021-08-13T14:22:13.250Z,1628864533.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:13.633Z,1628864533.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:13.633Z,1628864533.633 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:13.633Z,1628864533.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:13.634Z,1628864533.634 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:14.042Z,1628864534.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0051C,189,80,80,7B,FF 2021-08-13T14:22:14.043Z,1628864534.043 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:14.043Z,1628864534.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:14.046Z,1628864534.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:14.439Z,1628864534.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:14.821Z,1628864534.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00525,189,80,80,A3,FF 2021-08-13T14:22:14.822Z,1628864534.822 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:14.929Z,1628864534.929 [CTD_Seabird](ERROR): Failed to parse device response: ,23.9419,4.75717,4782.93 2021-08-13T14:22:15.253Z,1628864535.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142215.57*5D 2021-08-13T14:22:15.705Z,1628864535.705 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T14:17:15.5Z 2021-08-13T14:22:15.705Z,1628864535.705 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped 2021-08-13T14:22:15.705Z,1628864535.705 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1 2021-08-13T14:22:15.706Z,1628864535.706 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach 2021-08-13T14:22:15.706Z,1628864535.706 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1 2021-08-13T14:22:16.100Z,1628864536.100 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 41.520000 m . 2021-08-13T14:22:16.101Z,1628864536.101 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped 2021-08-13T14:22:16.101Z,1628864536.101 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1 2021-08-13T14:22:16.101Z,1628864536.101 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize. 2021-08-13T14:22:16.102Z,1628864536.102 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values. 2021-08-13T14:22:16.877Z,1628864536.877 [PowerOnly](INFO): Powering up loadControl 2021-08-13T14:22:17.686Z,1628864537.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:18.053Z,1628864538.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:18.053Z,1628864538.053 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:18.053Z,1628864538.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:18.054Z,1628864538.054 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:18.465Z,1628864538.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00525,189,80,80,A3,FF 2021-08-13T14:22:18.465Z,1628864538.465 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:18.466Z,1628864538.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:18.492Z,1628864538.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:18.875Z,1628864538.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:19.281Z,1628864539.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0052F,189,80,80,4C,FF 2021-08-13T14:22:19.282Z,1628864539.282 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:19.693Z,1628864539.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142220.02*5B 2021-08-13T14:22:22.167Z,1628864542.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:22.517Z,1628864542.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:22.517Z,1628864542.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:22.517Z,1628864542.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:22.518Z,1628864542.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:22.913Z,1628864542.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0052F,189,80,80,4C,FF 2021-08-13T14:22:22.913Z,1628864542.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:22.913Z,1628864542.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:22.915Z,1628864542.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:23.312Z,1628864543.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:23.713Z,1628864543.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00536,189,80,80,88,FF 2021-08-13T14:22:23.714Z,1628864543.714 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:24.177Z,1628864544.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142224.44*5D 2021-08-13T14:22:26.649Z,1628864546.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:26.965Z,1628864546.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:26.965Z,1628864546.965 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:26.965Z,1628864546.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:26.966Z,1628864546.966 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:27.349Z,1628864547.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00536,189,80,80,88,FF 2021-08-13T14:22:27.349Z,1628864547.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:27.349Z,1628864547.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:27.351Z,1628864547.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:27.753Z,1628864547.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:28.181Z,1628864548.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0053D,189,80,80,8C,FF 2021-08-13T14:22:28.182Z,1628864548.181 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:28.713Z,1628864548.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142228.88*51 2021-08-13T14:22:28.739Z,1628864548.739 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock. 2021-08-13T14:22:29.008Z,1628864549.008 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-08-13T14:22:29.409Z,1628864549.409 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off. 2021-08-13T14:22:29.807Z,1628864549.807 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer. 2021-08-13T14:22:31.003Z,1628864551.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:31.389Z,1628864551.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:31.389Z,1628864551.389 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:31.389Z,1628864551.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:31.390Z,1628864551.390 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:31.789Z,1628864551.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0053D,189,80,80,8C,FF 2021-08-13T14:22:31.789Z,1628864551.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:31.789Z,1628864551.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:31.791Z,1628864551.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:32.233Z,1628864552.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:32.633Z,1628864552.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00377,189,80,80,7B,FF 2021-08-13T14:22:32.634Z,1628864552.634 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:33.061Z,1628864553.061 [Micromodem](INFO): Nmea in: $SNTTA,0.414351,,,,142233.32*42 2021-08-13T14:22:35.501Z,1628864555.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:35.853Z,1628864555.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:35.853Z,1628864555.853 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:35.854Z,1628864555.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:35.855Z,1628864555.855 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:36.261Z,1628864556.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00377,189,80,80,7B,FF 2021-08-13T14:22:36.262Z,1628864556.262 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:36.262Z,1628864556.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:36.264Z,1628864556.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:36.677Z,1628864556.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:37.078Z,1628864557.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00208,189,80,80,BF,FF 2021-08-13T14:22:37.078Z,1628864557.078 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing. 2021-08-13T14:22:37.522Z,1628864557.522 [Micromodem](INFO): Nmea in: $SNTTA,0.025797,,,,142237.79*41 2021-08-13T14:22:38.334Z,1628864558.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:41.129Z,1628864561.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:41.521Z,1628864561.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:41.521Z,1628864561.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:41.521Z,1628864561.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:41.522Z,1628864561.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:41.954Z,1628864561.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00208,189,80,80,BF,FF 2021-08-13T14:22:41.954Z,1628864561.954 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:41.954Z,1628864561.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:41.956Z,1628864561.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:42.325Z,1628864562.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:42.729Z,1628864562.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055D,189,80,80,9C,FF 2021-08-13T14:22:42.730Z,1628864562.730 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:43.155Z,1628864563.155 [Micromodem](INFO): Nmea in: $SNTTA,0.243301,,,,142243.48*49 2021-08-13T14:22:45.593Z,1628864565.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:45.961Z,1628864565.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:45.961Z,1628864565.961 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:45.961Z,1628864565.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:45.962Z,1628864565.962 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:46.363Z,1628864566.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0055D,189,80,80,9C,FF 2021-08-13T14:22:46.363Z,1628864566.363 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:46.363Z,1628864566.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:46.365Z,1628864566.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:46.769Z,1628864566.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:47.169Z,1628864567.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00568,189,80,80,5D,FF 2021-08-13T14:22:47.170Z,1628864567.170 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:47.609Z,1628864567.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142247.89*59 2021-08-13T14:22:50.010Z,1628864570.010 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 45.54 m. Transitioning DDM to standby. 2021-08-13T14:22:50.011Z,1628864570.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:50.409Z,1628864570.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:50.409Z,1628864570.409 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:50.410Z,1628864570.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:50.410Z,1628864570.410 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:50.809Z,1628864570.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00568,189,80,80,5D,FF 2021-08-13T14:22:50.809Z,1628864570.809 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:50.809Z,1628864570.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:50.811Z,1628864570.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:51.217Z,1628864571.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:51.635Z,1628864571.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00417,189,80,80,8F,FF 2021-08-13T14:22:51.637Z,1628864571.637 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:52.059Z,1628864572.059 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142252.34*5B 2021-08-13T14:22:52.529Z,1628864572.529 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby. 2021-08-13T14:22:52.861Z,1628864572.861 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete. 2021-08-13T14:22:52.861Z,1628864572.861 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap:Docked:Detach] Stopped 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap:Docked] Stopped 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked 2021-08-13T14:22:52.862Z,1628864572.862 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap 2021-08-13T14:22:52.863Z,1628864572.863 [lineCaptureDepth:Lap] Stopped 2021-08-13T14:22:52.863Z,1628864572.863 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-08-13T14:22:52.863Z,1628864572.863 [lineCaptureDepth:Lap](INFO): Running loop #2 2021-08-13T14:22:52.863Z,1628864572.863 [lineCaptureDepth:Lap] Running Loop=2 2021-08-13T14:22:52.863Z,1628864572.863 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-08-13T14:22:52.863Z,1628864572.863 [lineCaptureDepth:Lap:A] Running Loop=1 2021-08-13T14:22:53.234Z,1628864573.234 [lineCaptureDepth:Lap:A] Stopped 2021-08-13T14:22:53.234Z,1628864573.234 [lineCaptureDepth:Lap:B] Running Loop=1 2021-08-13T14:22:53.234Z,1628864573.234 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-08-13T14:22:53.678Z,1628864573.678 [lineCaptureDepth:LineCapture] Running Loop=1 2021-08-13T14:22:53.678Z,1628864573.678 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-08-13T14:22:53.678Z,1628864573.678 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-08-13T14:22:53.678Z,1628864573.678 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-08-13T14:22:53.678Z,1628864573.678 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T14:22:53.679Z,1628864573.679 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:22:53.680Z,1628864573.680 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T14:22:53.680Z,1628864573.680 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T14:22:53.680Z,1628864573.680 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T14:22:53.680Z,1628864573.680 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T14:22:53.680Z,1628864573.680 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T14:22:53.680Z,1628864573.680 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T14:22:53.681Z,1628864573.681 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T14:22:53.683Z,1628864573.683 [lineCaptureDepth:LineCapture:A] Stopped 2021-08-13T14:22:53.683Z,1628864573.683 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-08-13T14:22:54.046Z,1628864574.046 [lineCaptureDepth:LineCapture:B] Stopped 2021-08-13T14:22:54.046Z,1628864574.046 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-08-13T14:22:54.500Z,1628864574.500 [lineCaptureDepth:LineCapture:D] Stopped 2021-08-13T14:22:54.500Z,1628864574.500 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-08-13T14:22:54.501Z,1628864574.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:54.833Z,1628864574.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:54.833Z,1628864574.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:54.833Z,1628864574.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:54.834Z,1628864574.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:54.859Z,1628864574.859 [lineCaptureDepth:LineCapture:E] Stopped 2021-08-13T14:22:54.859Z,1628864574.859 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-08-13T14:22:55.233Z,1628864575.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00417,189,80,80,8F,FF 2021-08-13T14:22:55.233Z,1628864575.233 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:55.233Z,1628864575.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:55.235Z,1628864575.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:55.340Z,1628864575.340 [lineCaptureDepth:LineCapture:F] Stopped 2021-08-13T14:22:55.340Z,1628864575.340 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-08-13T14:22:55.340Z,1628864575.340 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-08-13T14:22:55.340Z,1628864575.340 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-08-13T14:22:55.340Z,1628864575.340 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-08-13T14:22:55.341Z,1628864575.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-08-13T14:22:55.341Z,1628864575.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-08-13T14:22:55.341Z,1628864575.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-08-13T14:22:55.341Z,1628864575.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-08-13T14:22:55.341Z,1628864575.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-08-13T14:22:55.341Z,1628864575.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-08-13T14:22:55.342Z,1628864575.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-08-13T14:22:55.343Z,1628864575.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-08-13T14:22:55.639Z,1628864575.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:22:55.675Z,1628864575.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-08-13T14:22:55.692Z,1628864575.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T14:22:55.693Z,1628864575.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-08-13T14:22:55.693Z,1628864575.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T14:22:55.693Z,1628864575.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-08-13T14:22:55.693Z,1628864575.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-08-13T14:22:55.693Z,1628864575.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-08-13T14:22:55.693Z,1628864575.693 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-08-13T14:22:56.031Z,1628864576.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00572,189,80,80,9C,FF 2021-08-13T14:22:56.031Z,1628864576.031 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:22:56.589Z,1628864576.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142256.76*59 2021-08-13T14:22:58.594Z,1628864578.594 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-08-13T14:22:58.906Z,1628864578.906 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-08-13T14:22:58.908Z,1628864578.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:22:59.297Z,1628864579.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:22:59.297Z,1628864579.297 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:22:59.298Z,1628864579.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:22:59.299Z,1628864579.299 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:22:59.323Z,1628864579.323 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off. 2021-08-13T14:22:59.693Z,1628864579.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00572,189,80,80,9C,FF 2021-08-13T14:22:59.693Z,1628864579.693 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:22:59.694Z,1628864579.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:22:59.695Z,1628864579.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:22:59.821Z,1628864579.821 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-08-13T14:23:00.149Z,1628864580.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:00.521Z,1628864580.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057D,189,80,80,BA,FF 2021-08-13T14:23:00.521Z,1628864580.521 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:00.933Z,1628864580.933 [Micromodem](INFO): Nmea in: $SNTTA,0.038977,,,,142301.22*47 2021-08-13T14:23:03.349Z,1628864583.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:03.733Z,1628864583.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:03.733Z,1628864583.733 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:03.734Z,1628864583.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:03.735Z,1628864583.735 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:04.185Z,1628864584.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0057D,189,80,80,BA,FF 2021-08-13T14:23:04.185Z,1628864584.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:04.185Z,1628864584.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:04.187Z,1628864584.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:04.545Z,1628864584.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:04.945Z,1628864584.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00586,189,80,80,B7,FF 2021-08-13T14:23:04.946Z,1628864584.946 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:05.362Z,1628864585.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142305.71*59 2021-08-13T14:23:07.799Z,1628864587.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:08.185Z,1628864588.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:08.185Z,1628864588.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:08.185Z,1628864588.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:08.186Z,1628864588.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:08.581Z,1628864588.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00586,189,80,80,B7,FF 2021-08-13T14:23:08.581Z,1628864588.581 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:08.581Z,1628864588.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:08.583Z,1628864588.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:08.989Z,1628864588.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:09.389Z,1628864589.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0058F,189,80,80,C6,FF 2021-08-13T14:23:09.390Z,1628864589.390 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:09.817Z,1628864589.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142310.11*5B 2021-08-13T14:23:12.266Z,1628864592.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:12.621Z,1628864592.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:12.621Z,1628864592.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:12.621Z,1628864592.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:12.622Z,1628864592.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:13.033Z,1628864593.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0058F,189,80,80,C6,FF 2021-08-13T14:23:13.033Z,1628864593.033 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:13.033Z,1628864593.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:13.035Z,1628864593.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:13.433Z,1628864593.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:13.837Z,1628864593.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00598,189,80,80,AC,FF 2021-08-13T14:23:13.838Z,1628864593.838 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:14.261Z,1628864594.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142314.56*5C 2021-08-13T14:23:16.707Z,1628864596.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:17.065Z,1628864597.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:17.065Z,1628864597.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:17.065Z,1628864597.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:17.066Z,1628864597.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:17.481Z,1628864597.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00598,189,80,80,AC,FF 2021-08-13T14:23:17.481Z,1628864597.481 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:17.481Z,1628864597.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:17.483Z,1628864597.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:17.893Z,1628864597.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:18.281Z,1628864598.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00599,189,80,80,B9,FF 2021-08-13T14:23:18.281Z,1628864598.281 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:18.705Z,1628864598.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142319.01*53 2021-08-13T14:23:19.942Z,1628864599.942 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 48.48 m. Transitioning DDM to standby. 2021-08-13T14:23:21.205Z,1628864601.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:21.532Z,1628864601.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:21.533Z,1628864601.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:21.533Z,1628864601.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:21.534Z,1628864601.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:21.929Z,1628864601.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,00599,189,80,80,B9,FF 2021-08-13T14:23:21.929Z,1628864601.929 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:21.929Z,1628864601.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:21.931Z,1628864601.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:22.358Z,1628864602.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:22.436Z,1628864602.436 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-08-13T14:23:22.729Z,1628864602.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A6,189,80,80,B4,FF 2021-08-13T14:23:22.730Z,1628864602.730 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:22.782Z,1628864602.782 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-08-13T14:23:22.782Z,1628864602.782 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-08-13T14:23:22.782Z,1628864602.782 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-08-13T14:23:23.133Z,1628864603.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142323.45*5A 2021-08-13T14:23:23.154Z,1628864603.154 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-08-13T14:23:23.154Z,1628864603.154 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-08-13T14:23:23.154Z,1628864603.154 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-08-13T14:23:23.568Z,1628864603.568 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-08-13T14:23:23.569Z,1628864603.569 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-08-13T14:23:23.569Z,1628864603.569 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-08-13T14:23:23.569Z,1628864603.569 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-08-13T14:23:23.569Z,1628864603.569 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-08-13T14:23:23.942Z,1628864603.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-08-13T14:23:23.943Z,1628864603.943 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-08-13T14:23:23.943Z,1628864603.943 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-08-13T14:23:23.960Z,1628864603.960 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-08-13T14:23:23.960Z,1628864603.960 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-08-13T14:23:23.960Z,1628864603.960 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-08-13T14:23:23.961Z,1628864603.961 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 49.259998 m 2021-08-13T14:23:23.961Z,1628864603.961 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-08-13T14:23:23.961Z,1628864603.961 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-08-13T14:23:23.962Z,1628864603.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg ) 2021-08-13T14:23:23.962Z,1628864603.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-08-13T14:23:23.962Z,1628864603.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-08-13T14:23:23.962Z,1628864603.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-08-13T14:23:24.351Z,1628864604.351 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-08-13T14:23:24.351Z,1628864604.351 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-08-13T14:23:24.351Z,1628864604.351 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-08-13T14:23:24.351Z,1628864604.351 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-08-13T14:23:24.351Z,1628864604.351 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T14:23:24.351Z,1628864604.351 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:23:24.352Z,1628864604.352 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T14:23:24.352Z,1628864604.352 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T14:23:24.352Z,1628864604.352 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T14:23:24.353Z,1628864604.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T14:23:24.353Z,1628864604.353 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T14:23:24.761Z,1628864604.761 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1 2021-08-13T14:23:24.761Z,1628864604.761 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal 2021-08-13T14:23:24.762Z,1628864604.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-08-13T14:23:24.762Z,1628864604.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:23:24.762Z,1628864604.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-08-13T14:23:24.762Z,1628864604.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:23:24.762Z,1628864604.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-08-13T14:23:24.763Z,1628864604.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-08-13T14:23:24.763Z,1628864604.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-08-13T14:23:24.763Z,1628864604.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-08-13T14:23:24.763Z,1628864604.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-08-13T14:23:24.764Z,1628864604.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-08-13T14:23:24.764Z,1628864604.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-08-13T14:23:24.765Z,1628864604.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-08-13T14:23:24.765Z,1628864604.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-08-13T14:23:24.765Z,1628864604.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-08-13T14:23:24.765Z,1628864604.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-08-13T14:23:24.766Z,1628864604.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-08-13T14:23:24.766Z,1628864604.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T14:23:24.766Z,1628864604.766 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-08-13T14:23:24.766Z,1628864604.766 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-08-13T14:23:24.766Z,1628864604.766 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-08-13T14:23:24.767Z,1628864604.767 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-08-13T14:23:24.767Z,1628864604.767 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-08-13T14:23:24.767Z,1628864604.767 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-08-13T14:23:24.767Z,1628864604.767 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-08-13T14:23:24.767Z,1628864604.767 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-08-13T14:23:24.767Z,1628864604.767 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-08-13T14:23:25.159Z,1628864605.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 223.996505 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T14:23:25.160Z,1628864605.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 223.996505deg and heading rate command to 0 deg/s. 2021-08-13T14:23:25.593Z,1628864605.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:26.025Z,1628864606.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:26.025Z,1628864606.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:26.025Z,1628864606.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:26.026Z,1628864606.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:26.377Z,1628864606.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,005A6,189,80,80,B4,FF 2021-08-13T14:23:26.377Z,1628864606.377 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:26.377Z,1628864606.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:26.379Z,1628864606.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:26.765Z,1628864606.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:27.184Z,1628864607.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AF,189,80,80,A9,FF 2021-08-13T14:23:27.186Z,1628864607.186 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:27.593Z,1628864607.593 [Micromodem](INFO): Nmea in: $SNTTA,0.045646,,,,142327.91*4C 2021-08-13T14:23:27.619Z,1628864607.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 223.879640 deg, deltaT: 4.454097 s, approachRate: 0.121238 m/s, LOS rate: -0.026238 deg/s, posRepo size: 2 2021-08-13T14:23:27.634Z,1628864607.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.800003 m, bearing: 223.879640 deg, approachRate: 0.121238 m/s, LOS rate: -0.026238 deg/s, cmd update: -0.078713 deg/s, cmd heading: 223.996505 deg, new cmd heading: 223.996505 deg. 2021-08-13T14:23:30.027Z,1628864610.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:30.411Z,1628864610.411 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:30.411Z,1628864610.411 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:30.411Z,1628864610.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:30.412Z,1628864610.412 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:30.805Z,1628864610.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,005AF,189,80,80,A9,FF 2021-08-13T14:23:30.806Z,1628864610.806 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:30.806Z,1628864610.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:30.808Z,1628864610.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:31.237Z,1628864611.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:31.613Z,1628864611.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005B1,189,80,80,B8,FF 2021-08-13T14:23:31.614Z,1628864611.614 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:32.066Z,1628864612.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142332.33*5B 2021-08-13T14:23:32.149Z,1628864612.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 223.560260 deg, deltaT: 4.433570 s, approachRate: 0.027066 m/s, LOS rate: -0.072037 deg/s, posRepo size: 3 2021-08-13T14:23:32.151Z,1628864612.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.920002 m, bearing: 223.560260 deg, approachRate: 0.027066 m/s, LOS rate: -0.072037 deg/s, cmd update: -0.216110 deg/s, cmd heading: 223.645634 deg, new cmd heading: 223.607592 deg. 2021-08-13T14:23:34.538Z,1628864614.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:34.845Z,1628864614.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:34.845Z,1628864614.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:34.845Z,1628864614.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:34.846Z,1628864614.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:35.254Z,1628864615.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,005B1,189,80,80,B8,FF 2021-08-13T14:23:35.254Z,1628864615.254 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:35.254Z,1628864615.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:35.257Z,1628864615.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:35.661Z,1628864615.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:36.063Z,1628864616.063 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,434,000,005AB,18A,80,80,89,FF 2021-08-13T14:23:36.064Z,1628864616.064 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:36.481Z,1628864616.481 [Micromodem](INFO): Nmea in: $SNTTA,0.365799,0.365855,,,142336.78*5F 2021-08-13T14:23:36.587Z,1628864616.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 224.654812 deg, deltaT: 4.512002 s, approachRate: -0.079787 m/s, LOS rate: 0.242587 deg/s, posRepo size: 4 2021-08-13T14:23:36.593Z,1628864616.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.560001 m, bearing: 224.654812 deg, approachRate: -0.079787 m/s, LOS rate: 0.242587 deg/s, cmd update: 0.727760 deg/s, cmd heading: 222.673760 deg, new cmd heading: 222.581221 deg. 2021-08-13T14:23:38.906Z,1628864618.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:39.298Z,1628864619.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:39.298Z,1628864619.298 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:39.298Z,1628864619.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:39.299Z,1628864619.299 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:39.689Z,1628864619.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 434,000,005AB,18A,80,80,89,FF 2021-08-13T14:23:39.689Z,1628864619.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:39.689Z,1628864619.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:39.691Z,1628864619.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:40.138Z,1628864620.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:40.525Z,1628864620.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,00598,189,80,80,64,FF 2021-08-13T14:23:40.526Z,1628864620.526 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:40.950Z,1628864620.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142341.21*5C 2021-08-13T14:23:40.978Z,1628864620.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 222.069995 deg, deltaT: 4.427090 s, approachRate: -0.257506 m/s, LOS rate: -0.583864 deg/s, posRepo size: 4 2021-08-13T14:23:41.007Z,1628864621.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.419998 m, bearing: 222.069995 deg, approachRate: -0.257506 m/s, LOS rate: -0.583864 deg/s, cmd update: -1.751591 deg/s, cmd heading: 225.912220 deg, new cmd heading: 226.180240 deg. 2021-08-13T14:23:43.379Z,1628864623.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:43.725Z,1628864623.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:43.725Z,1628864623.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:43.726Z,1628864623.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:43.727Z,1628864623.727 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:44.178Z,1628864624.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 33F,000,00598,189,80,80,64,FF 2021-08-13T14:23:44.178Z,1628864624.178 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:44.179Z,1628864624.179 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:44.181Z,1628864624.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:44.545Z,1628864624.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:44.945Z,1628864624.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,00573,186,80,80,76,FF 2021-08-13T14:23:44.945Z,1628864624.945 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:45.367Z,1628864625.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142345.71*5D 2021-08-13T14:23:45.412Z,1628864625.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 222.685559 deg, deltaT: 4.404814 s, approachRate: -0.503994 m/s, LOS rate: 0.139748 deg/s, posRepo size: 4 2021-08-13T14:23:45.414Z,1628864625.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.199997 m, bearing: 222.685559 deg, approachRate: -0.503994 m/s, LOS rate: 0.139748 deg/s, cmd update: 0.419244 deg/s, cmd heading: 218.215906 deg, new cmd heading: 217.498767 deg. 2021-08-13T14:23:47.809Z,1628864627.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:48.185Z,1628864628.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:48.185Z,1628864628.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:48.185Z,1628864628.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:48.186Z,1628864628.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:48.194Z,1628864628.194 [PowerOnly](INFO): Powering down loadControl 2021-08-13T14:23:48.585Z,1628864628.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1E5,000,00573,186,80,80,76,FF 2021-08-13T14:23:48.586Z,1628864628.586 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:48.586Z,1628864628.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:48.587Z,1628864628.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:48.989Z,1628864628.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:49.385Z,1628864629.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00554,186,80,80,68,FF 2021-08-13T14:23:49.386Z,1628864629.386 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:49.821Z,1628864629.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142350.11*5F 2021-08-13T14:23:49.890Z,1628864629.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.339996 m, bearing: 224.121948 deg, deltaT: 4.414656 s, approachRate: -0.421324 m/s, LOS rate: 0.325368 deg/s, posRepo size: 4 2021-08-13T14:23:49.899Z,1628864629.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.339996 m, bearing: 224.121948 deg, approachRate: -0.421324 m/s, LOS rate: 0.325368 deg/s, cmd update: 0.976105 deg/s, cmd heading: 220.066226 deg, new cmd heading: 220.262968 deg. 2021-08-13T14:23:52.254Z,1628864632.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:52.629Z,1628864632.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:52.629Z,1628864632.629 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:52.629Z,1628864632.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:52.630Z,1628864632.630 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:53.025Z,1628864633.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06A,000,00554,186,80,80,68,FF 2021-08-13T14:23:53.025Z,1628864633.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:53.025Z,1628864633.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:53.027Z,1628864633.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:53.438Z,1628864633.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:53.833Z,1628864633.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,0052F,187,80,80,9F,FF 2021-08-13T14:23:53.833Z,1628864633.833 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:54.281Z,1628864634.281 [Micromodem](INFO): Nmea in: $SNTTA,0.051299,,,,142354.55*43 2021-08-13T14:23:54.340Z,1628864634.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 225.283790 deg, deltaT: 4.492428 s, approachRate: -0.494164 m/s, LOS rate: 0.258622 deg/s, posRepo size: 4 2021-08-13T14:23:54.342Z,1628864634.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.119999 m, bearing: 225.283790 deg, approachRate: -0.494164 m/s, LOS rate: 0.258622 deg/s, cmd update: 0.775867 deg/s, cmd heading: 224.459781 deg, new cmd heading: 224.869128 deg. 2021-08-13T14:23:54.356Z,1628864634.356 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8935,4.75432,4773.68 2021-08-13T14:23:56.697Z,1628864636.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:23:57.065Z,1628864637.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:23:57.065Z,1628864637.065 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:23:57.065Z,1628864637.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:23:57.066Z,1628864637.066 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:23:57.489Z,1628864637.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F47,000,0052F,187,80,80,9F,FF 2021-08-13T14:23:57.489Z,1628864637.489 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:23:57.489Z,1628864637.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:23:57.491Z,1628864637.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:23:57.879Z,1628864637.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:23:58.281Z,1628864638.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,0050B,186,80,80,65,FF 2021-08-13T14:23:58.282Z,1628864638.282 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:23:58.285Z,1628864638.285 [Micromodem](INFO): Nmea in: $SNTTA,0.208827,0.208915,,,142359.01*57 2021-08-13T14:23:58.718Z,1628864638.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 228.079004 deg, deltaT: 4.460861 s, approachRate: -0.484211 m/s, LOS rate: 0.626609 deg/s, posRepo size: 4 2021-08-13T14:23:58.718Z,1628864638.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m. 2021-08-13T14:23:58.737Z,1628864638.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.959999 m, bearing: 228.079004 deg, approachRate: -0.484211 m/s, LOS rate: 0.626609 deg/s, cmd update: 1.879826 deg/s, cmd heading: 227.913876 deg, new cmd heading: 228.184764 deg. 2021-08-13T14:23:59.121Z,1628864639.121 [PowerOnly](INFO): Powering up loadControl 2021-08-13T14:23:59.158Z,1628864639.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T14:23:59.158Z,1628864639.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:23:59.158Z,1628864639.158 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T14:23:59.159Z,1628864639.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T14:23:59.159Z,1628864639.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T14:23:59.159Z,1628864639.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T14:23:59.532Z,1628864639.532 [DDM](ERROR): Could not parse latch state 2021-08-13T14:23:59.584Z,1628864639.584 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T14:23:59.585Z,1628864639.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:23:59.585Z,1628864639.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T14:23:59.585Z,1628864639.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:24:01.139Z,1628864641.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:01.525Z,1628864641.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:01.525Z,1628864641.525 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:01.525Z,1628864641.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:01.526Z,1628864641.526 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:01.933Z,1628864641.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F47,000,0050B,186,80,80,65,FF 2021-08-13T14:24:01.934Z,1628864641.934 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:01.935Z,1628864641.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:01.975Z,1628864641.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:02.325Z,1628864642.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:02.725Z,1628864642.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,004E4,184,80,80,7D,FF 2021-08-13T14:24:02.725Z,1628864642.725 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:02.785Z,1628864642.785 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:03.147Z,1628864643.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142403.50*5B 2021-08-13T14:24:03.198Z,1628864643.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 225.104826 deg, deltaT: 4.401529 s, approachRate: -0.531633 m/s, LOS rate: -0.675715 deg/s, posRepo size: 4 2021-08-13T14:24:03.199Z,1628864643.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.62 m. 2021-08-13T14:24:03.205Z,1628864643.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.620003 m, bearing: 225.104826 deg, approachRate: -0.531633 m/s, LOS rate: -0.675715 deg/s, cmd update: -2.027145 deg/s, cmd heading: 236.202860 deg, new cmd heading: 236.992885 deg. 2021-08-13T14:24:05.679Z,1628864645.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:05.953Z,1628864645.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:05.953Z,1628864645.953 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:05.953Z,1628864645.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:05.954Z,1628864645.954 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:06.369Z,1628864646.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FA9,000,004E4,184,80,80,7D,FF 2021-08-13T14:24:06.369Z,1628864646.369 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:06.369Z,1628864646.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:06.371Z,1628864646.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:06.773Z,1628864646.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:07.170Z,1628864647.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,004B9,185,80,80,88,FF 2021-08-13T14:24:07.170Z,1628864647.170 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:07.190Z,1628864647.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:07.613Z,1628864647.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142407.89*5B 2021-08-13T14:24:07.639Z,1628864647.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 224.807084 deg, deltaT: 4.405051 s, approachRate: -0.585692 m/s, LOS rate: -0.067591 deg/s, posRepo size: 4 2021-08-13T14:24:07.660Z,1628864647.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m. 2021-08-13T14:24:07.662Z,1628864647.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.040001 m, bearing: 224.807084 deg, approachRate: -0.585692 m/s, LOS rate: -0.067591 deg/s, cmd update: -0.202773 deg/s, cmd heading: 227.265054 deg, new cmd heading: 226.348636 deg. 2021-08-13T14:24:10.031Z,1628864650.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:10.397Z,1628864650.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:10.397Z,1628864650.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:10.397Z,1628864650.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:10.398Z,1628864650.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:10.805Z,1628864650.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 02F,000,004B9,185,80,80,88,FF 2021-08-13T14:24:10.805Z,1628864650.805 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:10.805Z,1628864650.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:10.807Z,1628864650.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:11.209Z,1628864651.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:11.648Z,1628864651.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00495,184,80,80,71,FF 2021-08-13T14:24:11.649Z,1628864651.649 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:11.680Z,1628864651.680 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:12.053Z,1628864652.053 [Micromodem](INFO): Nmea in: $SNTTA,0.024074,,,,142412.33*45 2021-08-13T14:24:12.143Z,1628864652.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 226.493963 deg, deltaT: 4.489496 s, approachRate: -0.481123 m/s, LOS rate: 0.375739 deg/s, posRepo size: 4 2021-08-13T14:24:12.143Z,1628864652.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.88 m. 2021-08-13T14:24:12.148Z,1628864652.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.88 m. 2021-08-13T14:24:12.148Z,1628864652.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T14:24:12.150Z,1628864652.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.880001 m, bearing: 226.493963 deg, approachRate: -0.481123 m/s, LOS rate: 0.375739 deg/s, cmd update: 1.127217 deg/s, cmd heading: 226.354746 deg, new cmd heading: 226.260216 deg. 2021-08-13T14:24:14.526Z,1628864654.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:14.850Z,1628864654.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:14.850Z,1628864654.850 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:14.850Z,1628864654.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:14.851Z,1628864654.851 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:15.245Z,1628864655.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD5,000,00495,184,80,80,71,FF 2021-08-13T14:24:15.245Z,1628864655.245 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:15.245Z,1628864655.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:15.247Z,1628864655.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:15.649Z,1628864655.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:16.067Z,1628864656.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,0046A,185,80,80,A8,FF 2021-08-13T14:24:16.067Z,1628864656.067 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:16.153Z,1628864656.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:16.530Z,1628864656.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142416.77*5A 2021-08-13T14:24:16.600Z,1628864656.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 227.283752 deg, deltaT: 4.472674 s, approachRate: -0.576836 m/s, LOS rate: 0.176581 deg/s, posRepo size: 4 2021-08-13T14:24:16.602Z,1628864656.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.300001 m, bearing: 227.283752 deg, approachRate: -0.576836 m/s, LOS rate: 0.176581 deg/s, cmd update: 0.529742 deg/s, cmd heading: 231.392178 deg, new cmd heading: 231.899684 deg. 2021-08-13T14:24:18.923Z,1628864658.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:19.285Z,1628864659.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:19.285Z,1628864659.285 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:19.285Z,1628864659.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:19.286Z,1628864659.286 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:19.701Z,1628864659.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FCB,000,0046A,185,80,80,A8,FF 2021-08-13T14:24:19.701Z,1628864659.701 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:19.702Z,1628864659.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:19.703Z,1628864659.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:20.116Z,1628864660.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:20.517Z,1628864660.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00446,182,80,80,7B,FF 2021-08-13T14:24:20.517Z,1628864660.517 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:20.664Z,1628864660.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:20.929Z,1628864660.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142421.23*5F 2021-08-13T14:24:20.976Z,1628864660.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 229.691284 deg, deltaT: 4.511589 s, approachRate: -0.478767 m/s, LOS rate: 0.533633 deg/s, posRepo size: 4 2021-08-13T14:24:20.986Z,1628864660.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.140001 m, bearing: 229.691284 deg, approachRate: -0.478767 m/s, LOS rate: 0.533633 deg/s, cmd update: 1.600899 deg/s, cmd heading: 233.784192 deg, new cmd heading: 233.938250 deg. 2021-08-13T14:24:23.354Z,1628864663.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:23.729Z,1628864663.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:23.729Z,1628864663.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:23.729Z,1628864663.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:23.730Z,1628864663.730 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:24.173Z,1628864664.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFE,000,00446,182,80,80,7B,FF 2021-08-13T14:24:24.174Z,1628864664.174 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:24.174Z,1628864664.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:24.175Z,1628864664.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:24.551Z,1628864664.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:24.945Z,1628864664.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00419,184,80,80,6F,FF 2021-08-13T14:24:24.945Z,1628864664.945 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:24.987Z,1628864664.987 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:25.368Z,1628864665.368 [Micromodem](INFO): Nmea in: $SNTTA,0.049839,,,,142425.70*4C 2021-08-13T14:24:25.417Z,1628864665.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 227.752945 deg, deltaT: 4.323831 s, approachRate: -0.624446 m/s, LOS rate: -0.448292 deg/s, posRepo size: 4 2021-08-13T14:24:25.424Z,1628864665.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.440001 m, bearing: 227.752945 deg, approachRate: -0.624446 m/s, LOS rate: -0.448292 deg/s, cmd update: -1.344876 deg/s, cmd heading: 240.705562 deg, new cmd heading: 241.390028 deg. 2021-08-13T14:24:27.817Z,1628864667.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:28.189Z,1628864668.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:28.189Z,1628864668.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:28.189Z,1628864668.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:28.190Z,1628864668.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:28.589Z,1628864668.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 053,000,00419,184,80,80,6F,FF 2021-08-13T14:24:28.589Z,1628864668.589 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:28.589Z,1628864668.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:28.591Z,1628864668.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:28.989Z,1628864668.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:29.385Z,1628864669.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,003EF,186,80,80,A2,FF 2021-08-13T14:24:29.386Z,1628864669.386 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:29.406Z,1628864669.406 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:29.825Z,1628864669.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142430.11*5E 2021-08-13T14:24:29.874Z,1628864669.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 226.629980 deg, deltaT: 4.417699 s, approachRate: -0.570433 m/s, LOS rate: -0.254197 deg/s, posRepo size: 4 2021-08-13T14:24:29.877Z,1628864669.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.919998 m, bearing: 226.629980 deg, approachRate: -0.570433 m/s, LOS rate: -0.254197 deg/s, cmd update: -0.762591 deg/s, cmd heading: 234.763437 deg, new cmd heading: 234.131495 deg. 2021-08-13T14:24:32.268Z,1628864672.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:32.625Z,1628864672.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:32.625Z,1628864672.625 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:32.625Z,1628864672.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:32.626Z,1628864672.626 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:33.021Z,1628864673.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B7,000,003EF,186,80,80,A2,FF 2021-08-13T14:24:33.021Z,1628864673.021 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:33.021Z,1628864673.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:33.023Z,1628864673.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:33.429Z,1628864673.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:33.829Z,1628864673.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,003C6,184,80,80,AE,FF 2021-08-13T14:24:33.830Z,1628864673.830 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:33.922Z,1628864673.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:34.273Z,1628864674.273 [Micromodem](INFO): Nmea in: $SNTTA,0.029665,,,,142434.55*4A 2021-08-13T14:24:34.335Z,1628864674.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 225.005843 deg, deltaT: 4.515856 s, approachRate: -0.544747 m/s, LOS rate: -0.359652 deg/s, posRepo size: 4 2021-08-13T14:24:34.341Z,1628864674.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.459999 m, bearing: 225.005843 deg, approachRate: -0.544747 m/s, LOS rate: -0.359652 deg/s, cmd update: -1.078956 deg/s, cmd heading: 231.322714 deg, new cmd heading: 231.002346 deg. 2021-08-13T14:24:36.694Z,1628864676.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:37.061Z,1628864677.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:37.061Z,1628864677.061 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:37.062Z,1628864677.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:37.063Z,1628864677.063 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:37.485Z,1628864677.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 035,000,003C6,184,80,80,AE,FF 2021-08-13T14:24:37.485Z,1628864677.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:37.485Z,1628864677.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:37.487Z,1628864677.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:37.875Z,1628864677.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:38.281Z,1628864678.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,0039A,184,80,80,88,FF 2021-08-13T14:24:38.281Z,1628864678.281 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:38.351Z,1628864678.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:38.713Z,1628864678.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142439.01*56 2021-08-13T14:24:38.764Z,1628864678.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 220.386722 deg, deltaT: 4.429336 s, approachRate: -0.596026 m/s, LOS rate: -1.042847 deg/s, posRepo size: 4 2021-08-13T14:24:38.766Z,1628864678.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.820002 m, bearing: 220.386722 deg, approachRate: -0.596026 m/s, LOS rate: -1.042847 deg/s, cmd update: -3.128541 deg/s, cmd heading: 226.565289 deg, new cmd heading: 226.112377 deg. 2021-08-13T14:24:41.138Z,1628864681.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:41.517Z,1628864681.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:41.517Z,1628864681.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:41.517Z,1628864681.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:41.518Z,1628864681.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:41.933Z,1628864681.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 056,000,0039A,184,80,80,88,FF 2021-08-13T14:24:41.933Z,1628864681.933 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:41.933Z,1628864681.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:41.935Z,1628864681.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:42.321Z,1628864682.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:42.721Z,1628864682.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00374,184,80,80,9F,FF 2021-08-13T14:24:42.721Z,1628864682.721 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:42.752Z,1628864682.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:43.153Z,1628864683.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142443.47*59 2021-08-13T14:24:43.200Z,1628864683.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 220.625192 deg, deltaT: 4.401042 s, approachRate: -0.518059 m/s, LOS rate: 0.054185 deg/s, posRepo size: 4 2021-08-13T14:24:43.202Z,1628864683.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.540001 m, bearing: 220.625192 deg, approachRate: -0.518059 m/s, LOS rate: 0.054185 deg/s, cmd update: 0.162554 deg/s, cmd heading: 212.722031 deg, new cmd heading: 211.323385 deg. 2021-08-13T14:24:45.586Z,1628864685.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:45.957Z,1628864685.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:45.957Z,1628864685.957 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:45.957Z,1628864685.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:45.958Z,1628864685.958 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:46.354Z,1628864686.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF7,000,00374,184,80,80,9F,FF 2021-08-13T14:24:46.354Z,1628864686.354 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:46.354Z,1628864686.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:46.355Z,1628864686.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:46.769Z,1628864686.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:47.165Z,1628864687.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,0034A,186,80,80,85,FF 2021-08-13T14:24:47.166Z,1628864687.166 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:47.186Z,1628864687.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:47.597Z,1628864687.597 [Micromodem](INFO): Nmea in: $SNTTA,0.034604,,,,142447.88*45 2021-08-13T14:24:47.640Z,1628864687.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 224.743632 deg, deltaT: 4.434172 s, approachRate: -0.568314 m/s, LOS rate: 0.928796 deg/s, posRepo size: 4 2021-08-13T14:24:47.642Z,1628864687.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.019999 m, bearing: 224.743632 deg, approachRate: -0.568314 m/s, LOS rate: 0.928796 deg/s, cmd update: 2.786387 deg/s, cmd heading: 213.442861 deg, new cmd heading: 213.517176 deg. 2021-08-13T14:24:50.031Z,1628864690.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:50.393Z,1628864690.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:50.393Z,1628864690.393 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:50.393Z,1628864690.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:50.394Z,1628864690.394 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:50.805Z,1628864690.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA3,000,0034A,186,80,80,85,FF 2021-08-13T14:24:50.805Z,1628864690.805 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:50.805Z,1628864690.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:50.807Z,1628864690.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:51.205Z,1628864691.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:51.614Z,1628864691.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,0032C,186,80,80,AD,FF 2021-08-13T14:24:51.615Z,1628864691.615 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:51.678Z,1628864691.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:52.081Z,1628864692.081 [Micromodem](INFO): Nmea in: $SNTTA,0.010312,,,,142452.33*45 2021-08-13T14:24:52.160Z,1628864692.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 223.711563 deg, deltaT: 4.491814 s, approachRate: -0.400728 m/s, LOS rate: -0.229767 deg/s, posRepo size: 4 2021-08-13T14:24:52.162Z,1628864692.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.220001 m, bearing: 223.711563 deg, approachRate: -0.400728 m/s, LOS rate: -0.229767 deg/s, cmd update: -0.689300 deg/s, cmd heading: 225.946992 deg, new cmd heading: 227.299978 deg. 2021-08-13T14:24:54.514Z,1628864694.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:54.850Z,1628864694.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:54.851Z,1628864694.851 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:54.851Z,1628864694.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:54.852Z,1628864694.852 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:55.241Z,1628864695.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F11,000,0032C,186,80,80,AD,FF 2021-08-13T14:24:55.241Z,1628864695.241 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:55.241Z,1628864695.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:55.243Z,1628864695.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:24:55.648Z,1628864695.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:24:56.054Z,1628864696.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00309,183,80,80,B7,FF 2021-08-13T14:24:56.054Z,1628864696.054 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:24:56.121Z,1628864696.121 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:24:56.501Z,1628864696.501 [Micromodem](INFO): Nmea in: $SNTTA,0.102469,,,,142456.77*48 2021-08-13T14:24:56.579Z,1628864696.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 222.846615 deg, deltaT: 4.444497 s, approachRate: -0.472495 m/s, LOS rate: -0.194611 deg/s, posRepo size: 4 2021-08-13T14:24:56.585Z,1628864696.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.120000 m, bearing: 222.846615 deg, approachRate: -0.472495 m/s, LOS rate: -0.194611 deg/s, cmd update: -0.583833 deg/s, cmd heading: 222.910271 deg, new cmd heading: 222.563640 deg. 2021-08-13T14:24:58.910Z,1628864698.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:24:59.285Z,1628864699.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:24:59.286Z,1628864699.286 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:24:59.286Z,1628864699.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:24:59.287Z,1628864699.287 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:24:59.693Z,1628864699.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEA,000,00309,183,80,80,B7,FF 2021-08-13T14:24:59.694Z,1628864699.694 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:24:59.694Z,1628864699.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:24:59.714Z,1628864699.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:00.138Z,1628864700.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:00.531Z,1628864700.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,002FF,186,80,80,BE,FF 2021-08-13T14:25:00.531Z,1628864700.531 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:00.604Z,1628864700.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:00.949Z,1628864700.949 [Micromodem](INFO): Nmea in: $SNTTA,0.030050,,,,142501.24*43 2021-08-13T14:25:00.971Z,1628864700.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 232.424398 deg, deltaT: 4.481903 s, approachRate: -0.133872 m/s, LOS rate: 2.136990 deg/s, posRepo size: 4 2021-08-13T14:25:00.994Z,1628864700.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.520000 m, bearing: 232.424398 deg, approachRate: -0.133872 m/s, LOS rate: 2.136990 deg/s, cmd update: 6.410971 deg/s, cmd heading: 220.273164 deg, new cmd heading: 220.052210 deg. 2021-08-13T14:25:03.363Z,1628864703.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:03.746Z,1628864703.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:03.746Z,1628864703.746 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:03.747Z,1628864703.747 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:03.748Z,1628864703.748 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:04.181Z,1628864704.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F09,000,002FF,186,80,80,BE,FF 2021-08-13T14:25:04.181Z,1628864704.181 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:04.181Z,1628864704.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:04.183Z,1628864704.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:04.565Z,1628864704.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:04.953Z,1628864704.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,103,000,002D2,187,80,80,72,FF 2021-08-13T14:25:04.953Z,1628864704.953 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:05.006Z,1628864705.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:05.371Z,1628864705.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142505.71*5F 2021-08-13T14:25:05.425Z,1628864705.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.820000 m, bearing: 206.027957 deg, deltaT: 4.401811 s, approachRate: -0.613384 m/s, LOS rate: -5.996723 deg/s, posRepo size: 4 2021-08-13T14:25:05.427Z,1628864705.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.820000 m, bearing: 206.027957 deg, approachRate: -0.613384 m/s, LOS rate: -5.996723 deg/s, cmd update: -12.000000 deg/s, cmd heading: 248.520241 deg, new cmd heading: 251.246866 deg. 2021-08-13T14:25:07.860Z,1628864707.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:08.189Z,1628864708.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:08.189Z,1628864708.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:08.189Z,1628864708.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:08.190Z,1628864708.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:08.589Z,1628864708.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 103,000,002D2,187,80,80,72,FF 2021-08-13T14:25:08.589Z,1628864708.589 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:08.590Z,1628864708.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:08.591Z,1628864708.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:08.993Z,1628864708.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:09.393Z,1628864709.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,002C7,186,80,80,82,FF 2021-08-13T14:25:09.394Z,1628864709.394 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:09.423Z,1628864709.423 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:09.841Z,1628864709.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142510.12*5E 2021-08-13T14:25:09.914Z,1628864709.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 211.231728 deg, deltaT: 4.446432 s, approachRate: -0.148433 m/s, LOS rate: 1.170325 deg/s, posRepo size: 4 2021-08-13T14:25:09.921Z,1628864709.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.160000 m, bearing: 211.231728 deg, approachRate: -0.148433 m/s, LOS rate: 1.170325 deg/s, cmd update: 3.510975 deg/s, cmd heading: 195.521388 deg, new cmd heading: 189.536844 deg. 2021-08-13T14:25:12.276Z,1628864712.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:12.625Z,1628864712.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:12.625Z,1628864712.625 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:12.625Z,1628864712.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:12.626Z,1628864712.626 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:13.025Z,1628864713.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1A2,000,002C7,186,80,80,82,FF 2021-08-13T14:25:13.026Z,1628864713.026 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:13.026Z,1628864713.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:13.027Z,1628864713.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:13.437Z,1628864713.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:13.842Z,1628864713.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,002C9,186,80,80,95,FF 2021-08-13T14:25:13.842Z,1628864713.842 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:13.869Z,1628864713.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:14.311Z,1628864714.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 251.946691 deg, deltaT: 4.417075 s, approachRate: 0.027167 m/s, LOS rate: 9.217630 deg/s, posRepo size: 4 2021-08-13T14:25:14.318Z,1628864714.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 251.946691 deg, approachRate: 0.027167 m/s, LOS rate: 9.217630 deg/s, cmd update: 12.000000 deg/s, cmd heading: 211.140600 deg, new cmd heading: 212.706453 deg. 2021-08-13T14:25:16.725Z,1628864716.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:17.073Z,1628864717.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:17.073Z,1628864717.073 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:17.073Z,1628864717.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:17.074Z,1628864717.074 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:17.489Z,1628864717.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB3,000,002C9,186,80,80,95,FF 2021-08-13T14:25:17.489Z,1628864717.489 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:17.489Z,1628864717.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:17.491Z,1628864717.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:17.964Z,1628864717.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:18.356Z,1628864718.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,002F7,186,80,80,6E,FF 2021-08-13T14:25:18.357Z,1628864718.357 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:18.495Z,1628864718.495 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:18.773Z,1628864718.773 [Micromodem](INFO): Nmea in: $SNTTA,0.022174,,,,142519.01*49 2021-08-13T14:25:18.823Z,1628864718.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 226.745041 deg, deltaT: 4.624954 s, approachRate: 0.596763 m/s, LOS rate: -5.449060 deg/s, posRepo size: 4 2021-08-13T14:25:18.830Z,1628864718.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.040000 m, bearing: 226.745041 deg, approachRate: 0.596763 m/s, LOS rate: -5.449060 deg/s, cmd update: -12.000000 deg/s, cmd heading: 266.618377 deg, new cmd heading: 270.649501 deg. 2021-08-13T14:25:21.227Z,1628864721.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:21.597Z,1628864721.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:21.597Z,1628864721.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:21.597Z,1628864721.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:21.598Z,1628864721.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:21.997Z,1628864721.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5C,000,002F7,186,80,80,6E,FF 2021-08-13T14:25:21.998Z,1628864721.998 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:21.999Z,1628864721.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:22.014Z,1628864722.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:22.405Z,1628864722.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:22.809Z,1628864722.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,0032A,187,80,80,97,FF 2021-08-13T14:25:22.809Z,1628864722.809 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:22.829Z,1628864722.829 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:23.230Z,1628864723.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142523.54*5C 2021-08-13T14:25:23.258Z,1628864723.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 238.089876 deg, deltaT: 4.334398 s, approachRate: 0.705980 m/s, LOS rate: 2.617396 deg/s, posRepo size: 4 2021-08-13T14:25:23.261Z,1628864723.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.100000 m, bearing: 238.089876 deg, approachRate: 0.705980 m/s, LOS rate: 2.617396 deg/s, cmd update: 7.852187 deg/s, cmd heading: 214.558236 deg, new cmd heading: 209.391707 deg. 2021-08-13T14:25:25.656Z,1628864725.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:26.041Z,1628864726.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:26.041Z,1628864726.041 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:26.041Z,1628864726.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:26.042Z,1628864726.042 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:26.444Z,1628864726.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED1,000,0032A,187,80,80,97,FF 2021-08-13T14:25:26.445Z,1628864726.445 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:26.445Z,1628864726.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:26.450Z,1628864726.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:26.852Z,1628864726.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:27.245Z,1628864727.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00320,186,80,80,AF,FF 2021-08-13T14:25:27.245Z,1628864727.245 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:27.294Z,1628864727.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:27.686Z,1628864727.686 [Micromodem](INFO): Nmea in: $SNTTA,0.030363,,,,142527.98*43 2021-08-13T14:25:27.712Z,1628864727.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 225.240992 deg, deltaT: 4.464817 s, approachRate: -0.134384 m/s, LOS rate: -2.877807 deg/s, posRepo size: 4 2021-08-13T14:25:27.714Z,1628864727.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.500002 m, bearing: 225.240992 deg, approachRate: -0.134384 m/s, LOS rate: -2.877807 deg/s, cmd update: -8.633422 deg/s, cmd heading: 249.586260 deg, new cmd heading: 252.923887 deg. 2021-08-13T14:25:30.160Z,1628864730.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:30.504Z,1628864730.504 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:30.504Z,1628864730.504 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:30.505Z,1628864730.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:30.506Z,1628864730.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:30.886Z,1628864730.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0B8,000,00320,186,80,80,AF,FF 2021-08-13T14:25:30.886Z,1628864730.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:30.886Z,1628864730.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:30.890Z,1628864730.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:31.298Z,1628864731.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:31.689Z,1628864731.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0034E,18A,80,80,53,FF 2021-08-13T14:25:31.690Z,1628864731.690 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:31.775Z,1628864731.775 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:32.161Z,1628864732.161 [Micromodem](INFO): Nmea in: $SNTTA,0.022310,,,,142532.42*47 2021-08-13T14:25:32.248Z,1628864732.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 165.043311 deg, deltaT: 4.481192 s, approachRate: 0.615907 m/s, LOS rate: -13.433408 deg/s, posRepo size: 4 2021-08-13T14:25:32.250Z,1628864732.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.433408 deg/s. Setting heading cmd to target bearing of 165.043311deg and heading rate command to 0 deg/s. 2021-08-13T14:25:33.721Z,1628864733.721 [PowerOnly](INFO): Powering down loadControl 2021-08-13T14:25:34.557Z,1628864734.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:34.929Z,1628864734.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:34.929Z,1628864734.929 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:34.929Z,1628864734.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:34.930Z,1628864734.930 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:35.325Z,1628864735.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 502,000,0034E,18A,80,80,53,FF 2021-08-13T14:25:35.325Z,1628864735.325 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:35.325Z,1628864735.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:35.327Z,1628864735.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:35.741Z,1628864735.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:36.177Z,1628864736.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C8,000,00361,188,80,80,94,FF 2021-08-13T14:25:36.178Z,1628864736.178 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:36.242Z,1628864736.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:36.577Z,1628864736.577 [Micromodem](INFO): Nmea in: $SNTTA,0.022041,,,,142536.85*4F 2021-08-13T14:25:36.614Z,1628864736.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 192.292324 deg, deltaT: 4.466871 s, approachRate: 0.255212 m/s, LOS rate: 6.100246 deg/s, posRepo size: 4 2021-08-13T14:25:36.617Z,1628864736.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.400001 m, bearing: 192.292324 deg, approachRate: 0.255212 m/s, LOS rate: 6.100246 deg/s, cmd update: 12.000000 deg/s, cmd heading: 165.043311 deg, new cmd heading: 165.043311 deg. 2021-08-13T14:25:38.982Z,1628864738.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:39.367Z,1628864739.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:39.367Z,1628864739.367 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:39.367Z,1628864739.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:39.368Z,1628864739.368 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:39.778Z,1628864739.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 3C8,000,00361,188,80,80,94,FF 2021-08-13T14:25:39.778Z,1628864739.778 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:39.778Z,1628864739.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:39.779Z,1628864739.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:40.188Z,1628864740.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:40.581Z,1628864740.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D11,000,00382,189,80,80,6C,FF 2021-08-13T14:25:40.581Z,1628864740.581 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:40.684Z,1628864740.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:41.031Z,1628864741.031 [Micromodem](INFO): Nmea in: $SNTTA,0.038089,,,,142541.30*4E 2021-08-13T14:25:41.051Z,1628864741.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 266.694353 deg, deltaT: 4.442158 s, approachRate: 0.445729 m/s, LOS rate: 16.749074 deg/s, posRepo size: 4 2021-08-13T14:25:41.053Z,1628864741.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.749074 deg/s. Setting heading cmd to target bearing of 266.694353deg and heading rate command to 0 deg/s. 2021-08-13T14:25:43.475Z,1628864743.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:43.809Z,1628864743.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:43.809Z,1628864743.809 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:43.809Z,1628864743.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:43.810Z,1628864743.810 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:44.213Z,1628864744.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D11,000,00382,189,80,80,6C,FF 2021-08-13T14:25:44.213Z,1628864744.213 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:44.213Z,1628864744.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:44.215Z,1628864744.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:44.625Z,1628864744.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:45.029Z,1628864745.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,003C1,187,80,80,46,FF 2021-08-13T14:25:45.029Z,1628864745.029 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:45.049Z,1628864745.049 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:45.464Z,1628864745.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142545.74*5E 2021-08-13T14:25:45.518Z,1628864745.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 229.630714 deg, deltaT: 4.364960 s, approachRate: 0.865987 m/s, LOS rate: -8.491175 deg/s, posRepo size: 4 2021-08-13T14:25:45.518Z,1628864745.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.16 m. Rolling out. 2021-08-13T14:25:45.519Z,1628864745.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-08-13T14:25:45.861Z,1628864745.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T14:25:45.862Z,1628864745.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:25:45.862Z,1628864745.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T14:25:45.862Z,1628864745.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T14:25:45.862Z,1628864745.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T14:25:45.862Z,1628864745.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T14:25:45.862Z,1628864745.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T14:25:47.909Z,1628864747.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:48.261Z,1628864748.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:48.261Z,1628864748.261 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:48.261Z,1628864748.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:48.262Z,1628864748.262 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:48.665Z,1628864748.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ECF,000,003C1,187,80,80,46,FF 2021-08-13T14:25:48.665Z,1628864748.665 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:48.665Z,1628864748.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:48.667Z,1628864748.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:49.072Z,1628864749.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:49.485Z,1628864749.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,003C7,184,80,80,33,FF 2021-08-13T14:25:49.487Z,1628864749.487 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:49.535Z,1628864749.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:49.991Z,1628864749.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142550.19*51 2021-08-13T14:25:50.012Z,1628864750.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 210.267114 deg, deltaT: 4.486623 s, approachRate: 0.080238 m/s, LOS rate: -4.315852 deg/s, posRepo size: 4 2021-08-13T14:25:52.350Z,1628864752.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:52.697Z,1628864752.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:52.697Z,1628864752.697 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:52.697Z,1628864752.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:52.698Z,1628864752.698 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:53.109Z,1628864753.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 04E,000,003C7,184,80,80,33,FF 2021-08-13T14:25:53.109Z,1628864753.109 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:53.110Z,1628864753.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:53.111Z,1628864753.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:53.534Z,1628864753.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:53.921Z,1628864753.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,003F2,187,80,80,1D,FF 2021-08-13T14:25:53.921Z,1628864753.921 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:25:53.968Z,1628864753.968 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:25:54.349Z,1628864754.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142554.63*58 2021-08-13T14:25:54.396Z,1628864754.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 248.346361 deg, deltaT: 4.432905 s, approachRate: 0.582011 m/s, LOS rate: 8.590133 deg/s, posRepo size: 4 2021-08-13T14:25:56.754Z,1628864756.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:25:57.134Z,1628864757.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:25:57.134Z,1628864757.134 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:25:57.135Z,1628864757.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:25:57.136Z,1628864757.136 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:25:57.549Z,1628864757.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E19,000,003F2,187,80,80,1D,FF 2021-08-13T14:25:57.549Z,1628864757.549 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:25:57.550Z,1628864757.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:25:57.551Z,1628864757.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:25:57.961Z,1628864757.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:25:58.786Z,1628864758.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142559.07*57 2021-08-13T14:25:59.604Z,1628864759.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:01.181Z,1628864761.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 2,187,80,80,1D,FF 2021-08-13T14:26:01.181Z,1628864761.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 2,187,80,80,1D,FF 2021-08-13T14:26:01.181Z,1628864761.181 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:26:02.422Z,1628864762.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:02.797Z,1628864762.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:02.797Z,1628864762.797 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:02.797Z,1628864762.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:02.798Z,1628864762.798 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:03.209Z,1628864763.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 2,187,80,80,1D,FF 2021-08-13T14:26:03.209Z,1628864763.209 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:03.209Z,1628864763.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:03.211Z,1628864763.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:03.608Z,1628864763.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:04.021Z,1628864764.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003F5,186,80,80,A1,FF 2021-08-13T14:26:04.022Z,1628864764.022 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:04.090Z,1628864764.090 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:04.485Z,1628864764.485 [Micromodem](INFO): Nmea in: $SNTTA,0.045588,,,,142604.73*45 2021-08-13T14:26:04.573Z,1628864764.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 251.115538 deg, deltaT: 10.127196 s, approachRate: 0.017774 m/s, LOS rate: 0.273440 deg/s, posRepo size: 4 2021-08-13T14:26:06.862Z,1628864766.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:07.249Z,1628864767.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:07.249Z,1628864767.249 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:07.249Z,1628864767.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:07.250Z,1628864767.250 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:07.645Z,1628864767.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F17,000,003F5,186,80,80,A1,FF 2021-08-13T14:26:07.645Z,1628864767.645 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:07.646Z,1628864767.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:07.647Z,1628864767.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:08.066Z,1628864768.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:08.477Z,1628864768.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00403,186,80,80,97,FF 2021-08-13T14:26:08.479Z,1628864768.479 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:08.486Z,1628864768.486 [Micromodem](INFO): Nmea in: $SNTTA,0.040288,0.169435,,,142609.17*5A 2021-08-13T14:26:08.558Z,1628864768.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:08.916Z,1628864768.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 264.090576 deg, deltaT: 4.462451 s, approachRate: 0.188238 m/s, LOS rate: 2.907603 deg/s, posRepo size: 4 2021-08-13T14:26:11.318Z,1628864771.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:11.685Z,1628864771.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:11.685Z,1628864771.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:11.685Z,1628864771.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:11.686Z,1628864771.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:12.145Z,1628864772.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E87,000,00403,186,80,80,97,FF 2021-08-13T14:26:12.145Z,1628864772.145 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:12.145Z,1628864772.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:12.147Z,1628864772.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:12.521Z,1628864772.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:12.572Z,1628864772.572 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-08-13T14:26:12.573Z,1628864772.573 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-08-13T14:26:12.573Z,1628864772.573 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-08-13T14:26:12.573Z,1628864772.573 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T14:26:12.573Z,1628864772.573 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-08-13T14:26:13.034Z,1628864773.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,003FC,186,80,80,95,FF 2021-08-13T14:26:13.034Z,1628864773.034 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:13.037Z,1628864773.037 [Micromodem](INFO): Sent 73 bytes from file Logs/20210813T123241/Courier0027.lzma.parts 2021-08-13T14:26:13.037Z,1628864773.037 [Micromodem](INFO): Packets left to send: 0 2021-08-13T14:26:13.076Z,1628864773.076 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:13.448Z,1628864773.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142613.67*5C 2021-08-13T14:26:13.620Z,1628864773.620 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 696616611E0000005D00000400260000000000000000151D80030C5669C08C79984081FFA512EF875BDFA3CC747B22ED5F78CC090DC967D2C0397900 2021-08-13T14:26:13.620Z,1628864773.620 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69 2021-08-13T14:26:13.707Z,1628864773.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 268.459247 deg, deltaT: 4.518273 s, approachRate: -0.092956 m/s, LOS rate: 0.966890 deg/s, posRepo size: 4 2021-08-13T14:26:14.769Z,1628864774.769 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B 2021-08-13T14:26:15.173Z,1628864775.173 [Micromodem](INFO): Nmea in: $CADRQ,142615,1,10,0,64,1*73 2021-08-13T14:26:15.173Z,1628864775.173 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,696616611E0000005D00000400260000000000000000151D80030C5669C08C79984081FFA512EF875BDFA3CC747B22ED5F78CC090DC967D2C0397900*3C 2021-08-13T14:26:15.558Z,1628864775.558 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D 2021-08-13T14:26:15.610Z,1628864775.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:15.961Z,1628864775.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:15.961Z,1628864775.961 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:15.962Z,1628864775.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:15.963Z,1628864775.963 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:15.977Z,1628864775.977 [Micromodem](INFO): Nmea in: $CATXP,60*74 2021-08-13T14:26:16.372Z,1628864776.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB2,000,003FC,186,80,80,95,FF 2021-08-13T14:26:16.373Z,1628864776.373 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:16.373Z,1628864776.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:16.375Z,1628864776.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:17.195Z,1628864777.195 [Micromodem](INFO): Nmea in: $CATXF,60*62 2021-08-13T14:26:17.195Z,1628864777.195 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62 2021-08-13T14:26:17.575Z,1628864777.575 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,142616.719323,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*58 2021-08-13T14:26:17.576Z,1628864777.576 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,142616.719323,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*58 2021-08-13T14:26:18.478Z,1628864778.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:19.190Z,1628864779.190 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-08-13T14:26:19.191Z,1628864779.191 [Micromodem](INFO): Sent 52 bytes from file Logs/20210813T123241/Courier0030.lzma.parts 2021-08-13T14:26:19.191Z,1628864779.191 [Micromodem](INFO): Packets left to send: 0 2021-08-13T14:26:19.791Z,1628864779.791 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813142619.558392,06,32767,45,0114,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,17.4,2.66,08,0.34,-01,-0.13,46,14500,4000*61 2021-08-13T14:26:19.792Z,1628864779.792 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813142619.558392,06,32767,45,0114,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,17.4,2.66,08,0.34,-01,-0.13,46,14500,4000*61 2021-08-13T14:26:19.963Z,1628864779.963 [lineCaptureDepth:MicromodemComms] Stopped 2021-08-13T14:26:19.963Z,1628864779.963 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-08-13T14:26:19.963Z,1628864779.963 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-08-13T14:26:19.964Z,1628864779.964 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-08-13T14:26:19.964Z,1628864779.964 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-08-13T14:26:21.046Z,1628864781.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:22.212Z,1628864782.212 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.249478 2021-08-13T14:26:23.874Z,1628864783.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:24.221Z,1628864784.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:24.221Z,1628864784.221 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:24.221Z,1628864784.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:24.222Z,1628864784.222 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:24.630Z,1628864784.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB2,000,003FC,186,80,80,95,FF 2021-08-13T14:26:24.630Z,1628864784.630 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:24.630Z,1628864784.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:26.685Z,1628864786.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:27.470Z,1628864787.470 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:27.875Z,1628864787.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:28.269Z,1628864788.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD1,000,003FD,189,80,80,55,FF 2021-08-13T14:26:28.269Z,1628864788.269 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:28.273Z,1628864788.273 [Micromodem](INFO): Nmea in: $SNTTA,0.217357,0.217264,,,142629.00*55 2021-08-13T14:26:28.366Z,1628864788.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:28.714Z,1628864788.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 302.109430 deg, deltaT: 15.289600 s, approachRate: 0.003924 m/s, LOS rate: 2.200855 deg/s, posRepo size: 4 2021-08-13T14:26:31.122Z,1628864791.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:31.505Z,1628864791.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:31.505Z,1628864791.505 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:31.505Z,1628864791.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:31.506Z,1628864791.506 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:31.902Z,1628864791.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CD1,000,003FD,189,80,80,55,FF 2021-08-13T14:26:31.902Z,1628864791.902 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:31.902Z,1628864791.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:31.904Z,1628864791.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:32.313Z,1628864792.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:32.328Z,1628864792.328 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:26:32.701Z,1628864792.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD0,000,003F8,18A,80,80,2B,FF 2021-08-13T14:26:32.702Z,1628864792.702 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:32.770Z,1628864792.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:33.157Z,1628864793.157 [Micromodem](INFO): Nmea in: $SNTTA,0.065525,,,,142633.43*47 2021-08-13T14:26:33.180Z,1628864793.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 303.151635 deg, deltaT: 4.403827 s, approachRate: -0.068123 m/s, LOS rate: 0.236659 deg/s, posRepo size: 4 2021-08-13T14:26:35.565Z,1628864795.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:35.945Z,1628864795.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:35.945Z,1628864795.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:35.945Z,1628864795.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:35.946Z,1628864795.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:36.393Z,1628864796.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CD0,000,003F8,18A,80,80,2B,FF 2021-08-13T14:26:36.393Z,1628864796.393 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:36.394Z,1628864796.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:36.395Z,1628864796.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:37.145Z,1628864797.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,003F2,186,80,80,2D,FF 2021-08-13T14:26:37.146Z,1628864797.146 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:37.151Z,1628864797.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:37.202Z,1628864797.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:37.622Z,1628864797.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 241.076526 deg, deltaT: 4.432682 s, approachRate: -0.081216 m/s, LOS rate: -14.003962 deg/s, posRepo size: 4 2021-08-13T14:26:37.962Z,1628864797.962 [Micromodem](INFO): Nmea in: $SNTTA,0.056060,,,,142637.92*4B 2021-08-13T14:26:39.981Z,1628864799.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:40.353Z,1628864800.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:40.354Z,1628864800.354 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:40.354Z,1628864800.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:40.355Z,1628864800.355 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:40.769Z,1628864800.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B4,000,003F2,186,80,80,2D,FF 2021-08-13T14:26:40.769Z,1628864800.769 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:40.770Z,1628864800.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:40.771Z,1628864800.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:41.180Z,1628864801.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:41.573Z,1628864801.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,003F5,186,80,80,89,FF 2021-08-13T14:26:41.573Z,1628864801.573 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:41.627Z,1628864801.627 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:42.014Z,1628864802.014 [Micromodem](INFO): Nmea in: $SNTTA,0.032125,,,,142642.30*43 2021-08-13T14:26:42.030Z,1628864802.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 284.477597 deg, deltaT: 4.432878 s, approachRate: 0.040607 m/s, LOS rate: 9.790721 deg/s, posRepo size: 4 2021-08-13T14:26:42.401Z,1628864802.401 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-08-13T14:26:44.502Z,1628864804.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:44.811Z,1628864804.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:44.811Z,1628864804.811 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:44.811Z,1628864804.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:44.812Z,1628864804.812 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:45.209Z,1628864805.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E58,000,003F5,186,80,80,89,FF 2021-08-13T14:26:45.209Z,1628864805.209 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:45.210Z,1628864805.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:45.211Z,1628864805.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:45.625Z,1628864805.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:46.023Z,1628864806.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,003E5,186,80,80,66,FF 2021-08-13T14:26:46.023Z,1628864806.023 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:46.042Z,1628864806.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:46.460Z,1628864806.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142646.73*59 2021-08-13T14:26:46.560Z,1628864806.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 258.015614 deg, deltaT: 4.406454 s, approachRate: -0.217862 m/s, LOS rate: -6.005279 deg/s, posRepo size: 4 2021-08-13T14:26:48.862Z,1628864808.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:49.253Z,1628864809.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:49.253Z,1628864809.253 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:49.254Z,1628864809.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:49.254Z,1628864809.254 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:49.653Z,1628864809.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 065,000,003E5,186,80,80,66,FF 2021-08-13T14:26:49.653Z,1628864809.653 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:49.653Z,1628864809.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:49.655Z,1628864809.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:50.066Z,1628864810.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:50.497Z,1628864810.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,003E0,185,80,80,52,FF 2021-08-13T14:26:50.498Z,1628864810.498 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:50.587Z,1628864810.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:50.905Z,1628864810.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142651.18*52 2021-08-13T14:26:50.907Z,1628864810.907 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T14:26:50.960Z,1628864810.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 264.603468 deg, deltaT: 4.545322 s, approachRate: -0.066002 m/s, LOS rate: 1.449370 deg/s, posRepo size: 4 2021-08-13T14:26:53.322Z,1628864813.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:53.693Z,1628864813.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:53.693Z,1628864813.693 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:53.693Z,1628864813.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:53.694Z,1628864813.694 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:54.142Z,1628864814.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD8,000,003E0,185,80,80,52,FF 2021-08-13T14:26:54.142Z,1628864814.142 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:54.143Z,1628864814.143 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:54.149Z,1628864814.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:54.529Z,1628864814.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:54.909Z,1628864814.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,003D6,188,80,80,43,FF 2021-08-13T14:26:54.909Z,1628864814.909 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:54.929Z,1628864814.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:55.332Z,1628864815.332 [Micromodem](INFO): Nmea in: $SNTTA,0.063991,,,,142655.67*44 2021-08-13T14:26:55.375Z,1628864815.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 267.405321 deg, deltaT: 4.341613 s, approachRate: -0.138197 m/s, LOS rate: 0.645348 deg/s, posRepo size: 4 2021-08-13T14:26:57.796Z,1628864817.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:26:58.193Z,1628864818.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:26:58.193Z,1628864818.193 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:26:58.193Z,1628864818.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:26:58.194Z,1628864818.194 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:26:58.552Z,1628864818.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F93,000,003D6,188,80,80,43,FF 2021-08-13T14:26:58.552Z,1628864818.552 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:26:58.553Z,1628864818.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:26:58.554Z,1628864818.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:26:58.949Z,1628864818.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:26:59.349Z,1628864819.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE7,000,003D1,189,80,80,4E,FF 2021-08-13T14:26:59.350Z,1628864819.350 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:26:59.462Z,1628864819.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:26:59.793Z,1628864819.793 [Micromodem](INFO): Nmea in: $SNTTA,0.033092,,,,142700.08*43 2021-08-13T14:26:59.825Z,1628864819.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 301.088399 deg, deltaT: 4.533425 s, approachRate: -0.066175 m/s, LOS rate: 7.429940 deg/s, posRepo size: 4 2021-08-13T14:27:02.253Z,1628864822.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:02.581Z,1628864822.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:02.581Z,1628864822.581 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:02.581Z,1628864822.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:02.582Z,1628864822.582 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:02.993Z,1628864822.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE7,000,003D1,189,80,80,4E,FF 2021-08-13T14:27:02.993Z,1628864822.993 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:02.993Z,1628864822.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:02.995Z,1628864822.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:03.403Z,1628864823.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:03.793Z,1628864823.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,003C7,187,80,80,5B,FF 2021-08-13T14:27:03.793Z,1628864823.793 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:03.833Z,1628864823.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:04.249Z,1628864824.249 [Micromodem](INFO): Nmea in: $SNTTA,0.049499,,,,142704.52*4A 2021-08-13T14:27:04.321Z,1628864824.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 269.176908 deg, deltaT: 4.370552 s, approachRate: -0.137283 m/s, LOS rate: -7.301478 deg/s, posRepo size: 4 2021-08-13T14:27:06.656Z,1628864826.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:07.033Z,1628864827.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:07.033Z,1628864827.033 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:07.033Z,1628864827.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:07.034Z,1628864827.034 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:07.429Z,1628864827.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5D,000,003C7,187,80,80,5B,FF 2021-08-13T14:27:07.429Z,1628864827.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:07.429Z,1628864827.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:07.431Z,1628864827.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:07.845Z,1628864827.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:08.249Z,1628864828.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,003C0,187,80,80,2E,FF 2021-08-13T14:27:08.249Z,1628864828.249 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:08.333Z,1628864828.333 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:08.693Z,1628864828.693 [Micromodem](INFO): Nmea in: $SNTTA,0.029562,,,,142708.96*4D 2021-08-13T14:27:08.719Z,1628864828.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 270.536471 deg, deltaT: 4.500130 s, approachRate: -0.093329 m/s, LOS rate: 0.302116 deg/s, posRepo size: 4 2021-08-13T14:27:11.094Z,1628864831.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:11.501Z,1628864831.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:11.501Z,1628864831.501 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:11.501Z,1628864831.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:11.502Z,1628864831.502 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:11.882Z,1628864831.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F43,000,003C0,187,80,80,2E,FF 2021-08-13T14:27:11.882Z,1628864831.882 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:11.882Z,1628864831.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:11.885Z,1628864831.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:12.305Z,1628864832.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:12.347Z,1628864832.347 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T14:27:12.685Z,1628864832.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,003B9,186,80,80,34,FF 2021-08-13T14:27:12.686Z,1628864832.686 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:12.739Z,1628864832.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:13.129Z,1628864833.129 [Micromodem](INFO): Nmea in: $SNTTA,0.061064,,,,142713.41*42 2021-08-13T14:27:13.151Z,1628864833.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 279.195976 deg, deltaT: 4.406079 s, approachRate: -0.095323 m/s, LOS rate: 1.965354 deg/s, posRepo size: 4 2021-08-13T14:27:15.553Z,1628864835.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:15.925Z,1628864835.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:15.925Z,1628864835.925 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:15.925Z,1628864835.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:15.926Z,1628864835.926 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:16.329Z,1628864836.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E99,000,003B9,186,80,80,34,FF 2021-08-13T14:27:16.329Z,1628864836.329 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:16.329Z,1628864836.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:16.331Z,1628864836.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:16.780Z,1628864836.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:17.193Z,1628864837.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,003B2,186,80,80,68,FF 2021-08-13T14:27:17.193Z,1628864837.193 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:17.245Z,1628864837.245 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:17.597Z,1628864837.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142717.85*55 2021-08-13T14:27:17.647Z,1628864837.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 276.051166 deg, deltaT: 4.505984 s, approachRate: -0.093209 m/s, LOS rate: -0.697919 deg/s, posRepo size: 4 2021-08-13T14:27:20.047Z,1628864840.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:20.429Z,1628864840.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:20.429Z,1628864840.429 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:20.429Z,1628864840.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:20.430Z,1628864840.430 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:20.826Z,1628864840.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE3,000,003B2,186,80,80,68,FF 2021-08-13T14:27:20.826Z,1628864840.826 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:20.826Z,1628864840.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:20.828Z,1628864840.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:21.237Z,1628864841.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:21.629Z,1628864841.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,003AA,187,80,80,75,FF 2021-08-13T14:27:21.630Z,1628864841.630 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:21.649Z,1628864841.649 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:22.097Z,1628864842.097 [Micromodem](INFO): Nmea in: $SNTTA,0.038995,,,,142722.35*48 2021-08-13T14:27:22.190Z,1628864842.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 278.176939 deg, deltaT: 4.404199 s, approachRate: -0.108988 m/s, LOS rate: 0.482670 deg/s, posRepo size: 4 2021-08-13T14:27:24.155Z,1628864844.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:24.481Z,1628864844.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:24.481Z,1628864844.481 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:24.481Z,1628864844.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:24.482Z,1628864844.482 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:24.857Z,1628864844.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBA,000,003AA,187,80,80,75,FF 2021-08-13T14:27:24.857Z,1628864844.857 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:24.857Z,1628864844.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:24.859Z,1628864844.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:25.290Z,1628864845.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:25.665Z,1628864845.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,003A4,186,80,80,84,FF 2021-08-13T14:27:25.666Z,1628864845.666 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:25.719Z,1628864845.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:26.125Z,1628864846.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142726.39*50 2021-08-13T14:27:26.187Z,1628864846.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 277.942472 deg, deltaT: 4.074346 s, approachRate: -0.088357 m/s, LOS rate: -0.057547 deg/s, posRepo size: 4 2021-08-13T14:27:28.548Z,1628864848.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:28.896Z,1628864848.896 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:28.897Z,1628864848.897 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:28.897Z,1628864848.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:28.898Z,1628864848.898 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:29.318Z,1628864849.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC1,000,003A4,186,80,80,84,FF 2021-08-13T14:27:29.318Z,1628864849.318 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:29.319Z,1628864849.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:29.321Z,1628864849.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:29.709Z,1628864849.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:30.142Z,1628864850.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,0039E,186,80,80,65,FF 2021-08-13T14:27:30.143Z,1628864850.143 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:30.225Z,1628864850.225 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:30.545Z,1628864850.545 [Micromodem](INFO): Nmea in: $SNTTA,0.026761,,,,142730.84*4B 2021-08-13T14:27:30.574Z,1628864850.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 279.069044 deg, deltaT: 4.501106 s, approachRate: -0.079981 m/s, LOS rate: 0.250288 deg/s, posRepo size: 4 2021-08-13T14:27:32.972Z,1628864852.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:33.345Z,1628864853.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:33.345Z,1628864853.345 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:33.346Z,1628864853.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:33.347Z,1628864853.347 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:33.765Z,1628864853.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB3,000,0039E,186,80,80,65,FF 2021-08-13T14:27:33.765Z,1628864853.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:33.765Z,1628864853.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:33.767Z,1628864853.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:34.237Z,1628864854.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:34.625Z,1628864854.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,003A1,186,80,80,A0,FF 2021-08-13T14:27:34.625Z,1628864854.625 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:34.684Z,1628864854.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:35.049Z,1628864855.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142735.29*53 2021-08-13T14:27:35.088Z,1628864855.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 279.279386 deg, deltaT: 4.459339 s, approachRate: 0.040366 m/s, LOS rate: 0.047169 deg/s, posRepo size: 4 2021-08-13T14:27:37.488Z,1628864857.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:37.857Z,1628864857.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:37.858Z,1628864857.858 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:37.858Z,1628864857.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:37.859Z,1628864857.859 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:38.267Z,1628864858.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC2,000,003A1,186,80,80,A0,FF 2021-08-13T14:27:38.267Z,1628864858.267 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:38.267Z,1628864858.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:38.270Z,1628864858.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:38.669Z,1628864858.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:39.078Z,1628864859.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,0039A,187,80,80,66,FF 2021-08-13T14:27:39.078Z,1628864859.078 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:39.145Z,1628864859.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:39.501Z,1628864859.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142739.80*5C 2021-08-13T14:27:39.536Z,1628864859.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 272.285300 deg, deltaT: 4.461480 s, approachRate: -0.094139 m/s, LOS rate: -1.567661 deg/s, posRepo size: 4 2021-08-13T14:27:41.939Z,1628864861.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:42.310Z,1628864862.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:42.310Z,1628864862.310 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:42.311Z,1628864862.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:42.312Z,1628864862.312 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:42.379Z,1628864862.379 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T14:27:42.705Z,1628864862.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F69,000,0039A,187,80,80,66,FF 2021-08-13T14:27:42.705Z,1628864862.705 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:42.705Z,1628864862.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:42.707Z,1628864862.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:43.115Z,1628864863.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:43.513Z,1628864863.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00395,184,80,80,8E,FF 2021-08-13T14:27:43.514Z,1628864863.514 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:43.567Z,1628864863.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:43.964Z,1628864863.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142744.23*5F 2021-08-13T14:27:43.988Z,1628864863.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 269.262176 deg, deltaT: 4.426086 s, approachRate: -0.067780 m/s, LOS rate: -0.683024 deg/s, posRepo size: 4 2021-08-13T14:27:46.486Z,1628864866.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:46.745Z,1628864866.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:46.745Z,1628864866.745 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:46.745Z,1628864866.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:46.746Z,1628864866.746 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:47.166Z,1628864867.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FC6,000,00395,184,80,80,8E,FF 2021-08-13T14:27:47.167Z,1628864867.167 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:47.167Z,1628864867.167 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:47.189Z,1628864867.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:47.560Z,1628864867.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:47.982Z,1628864867.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,0038B,186,80,80,9F,FF 2021-08-13T14:27:47.982Z,1628864867.982 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:48.063Z,1628864868.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:48.373Z,1628864868.373 [Micromodem](INFO): Nmea in: $SNTTA,0.064377,0.399656,,,142748.71*53 2021-08-13T14:27:48.429Z,1628864868.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 276.767379 deg, deltaT: 4.491512 s, approachRate: -0.133586 m/s, LOS rate: 1.670975 deg/s, posRepo size: 4 2021-08-13T14:27:50.826Z,1628864870.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:51.189Z,1628864871.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:51.189Z,1628864871.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:51.189Z,1628864871.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:51.190Z,1628864871.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:51.601Z,1628864871.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F52,000,0038B,186,80,80,9F,FF 2021-08-13T14:27:51.601Z,1628864871.601 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:51.601Z,1628864871.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:51.603Z,1628864871.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:52.001Z,1628864872.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:52.405Z,1628864872.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00384,187,80,80,8C,FF 2021-08-13T14:27:52.406Z,1628864872.406 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:52.409Z,1628864872.409 [Micromodem](INFO): Nmea in: $SNTTA,0.190525,0.190894,,,142753.13*5D 2021-08-13T14:27:52.514Z,1628864872.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:52.906Z,1628864872.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 284.755750 deg, deltaT: 4.450741 s, approachRate: -0.094367 m/s, LOS rate: 1.794841 deg/s, posRepo size: 4 2021-08-13T14:27:55.246Z,1628864875.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:27:55.633Z,1628864875.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:27:55.633Z,1628864875.633 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:27:55.633Z,1628864875.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:27:55.634Z,1628864875.634 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:27:56.041Z,1628864876.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED2,000,00384,187,80,80,8C,FF 2021-08-13T14:27:56.041Z,1628864876.041 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:27:56.041Z,1628864876.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:27:56.043Z,1628864876.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:27:56.470Z,1628864876.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:27:56.845Z,1628864876.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,0038A,186,80,80,87,FF 2021-08-13T14:27:56.846Z,1628864876.846 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:27:56.873Z,1628864876.873 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:27:57.289Z,1628864877.289 [Micromodem](INFO): Nmea in: $SNTTA,0.034117,,,,142757.57*40 2021-08-13T14:27:57.327Z,1628864877.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 295.675474 deg, deltaT: 4.359801 s, approachRate: 0.082574 m/s, LOS rate: 2.504638 deg/s, posRepo size: 4 2021-08-13T14:27:59.737Z,1628864879.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:00.103Z,1628864880.103 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:00.104Z,1628864880.104 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:00.105Z,1628864880.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:00.106Z,1628864880.106 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:00.481Z,1628864880.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E12,000,0038A,186,80,80,87,FF 2021-08-13T14:28:00.481Z,1628864880.481 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:00.481Z,1628864880.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:00.483Z,1628864880.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:00.899Z,1628864880.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:01.301Z,1628864881.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00379,187,80,80,63,FF 2021-08-13T14:28:01.302Z,1628864881.302 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:01.332Z,1628864881.332 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:01.729Z,1628864881.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142802.01*52 2021-08-13T14:28:01.751Z,1628864881.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.840000 m, bearing: 295.669709 deg, deltaT: 4.458304 s, approachRate: -0.228787 m/s, LOS rate: -0.001293 deg/s, posRepo size: 4 2021-08-13T14:28:04.252Z,1628864884.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:04.530Z,1628864884.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:04.530Z,1628864884.530 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:04.530Z,1628864884.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:04.531Z,1628864884.531 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:04.937Z,1628864884.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E1E,000,00379,187,80,80,63,FF 2021-08-13T14:28:04.937Z,1628864884.937 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:04.937Z,1628864884.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:04.939Z,1628864884.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:05.336Z,1628864885.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:05.737Z,1628864885.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00374,188,80,80,94,FF 2021-08-13T14:28:05.737Z,1628864885.737 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:05.800Z,1628864885.800 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:06.189Z,1628864886.189 [Micromodem](INFO): Nmea in: $SNTTA,0.480455,0.480436,,,142806.46*50 2021-08-13T14:28:06.297Z,1628864886.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 299.228457 deg, deltaT: 4.468001 s, approachRate: -0.067144 m/s, LOS rate: 0.796496 deg/s, posRepo size: 4 2021-08-13T14:28:08.604Z,1628864888.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:08.969Z,1628864888.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:08.969Z,1628864888.969 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:08.969Z,1628864888.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:08.970Z,1628864888.970 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:09.381Z,1628864889.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DE5,000,00374,188,80,80,94,FF 2021-08-13T14:28:09.381Z,1628864889.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:09.381Z,1628864889.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:09.383Z,1628864889.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:09.781Z,1628864889.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:10.191Z,1628864890.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,00362,188,80,80,9C,FF 2021-08-13T14:28:10.193Z,1628864890.193 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:10.201Z,1628864890.201 [Micromodem](INFO): Nmea in: $SNTTA,0.262802,0.303003,,,142810.91*57 2021-08-13T14:28:10.298Z,1628864890.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:10.626Z,1628864890.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 301.864609 deg, deltaT: 4.498654 s, approachRate: -0.240072 m/s, LOS rate: 0.585987 deg/s, posRepo size: 4 2021-08-13T14:28:13.050Z,1628864893.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:13.413Z,1628864893.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:13.413Z,1628864893.413 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:13.413Z,1628864893.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:13.414Z,1628864893.414 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:13.813Z,1628864893.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB7,000,00362,188,80,80,9C,FF 2021-08-13T14:28:13.813Z,1628864893.813 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:13.814Z,1628864893.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:13.815Z,1628864893.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:14.221Z,1628864894.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:14.629Z,1628864894.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,0035A,188,80,80,7D,FF 2021-08-13T14:28:14.630Z,1628864894.630 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:14.679Z,1628864894.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:15.061Z,1628864895.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142815.34*52 2021-08-13T14:28:15.096Z,1628864895.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 299.859593 deg, deltaT: 4.380975 s, approachRate: -0.109564 m/s, LOS rate: -0.457664 deg/s, posRepo size: 4 2021-08-13T14:28:17.470Z,1628864897.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:17.857Z,1628864897.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:17.857Z,1628864897.857 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:17.857Z,1628864897.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:17.858Z,1628864897.858 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:18.269Z,1628864898.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DED,000,0035A,188,80,80,7D,FF 2021-08-13T14:28:18.269Z,1628864898.269 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:18.269Z,1628864898.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:18.271Z,1628864898.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:18.677Z,1628864898.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:19.075Z,1628864899.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,00353,187,80,80,95,FF 2021-08-13T14:28:19.075Z,1628864899.075 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:19.094Z,1628864899.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:19.521Z,1628864899.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142819.80*51 2021-08-13T14:28:19.589Z,1628864899.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 299.801482 deg, deltaT: 4.414932 s, approachRate: -0.095132 m/s, LOS rate: -0.013162 deg/s, posRepo size: 4 2021-08-13T14:28:21.919Z,1628864901.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:22.301Z,1628864902.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:22.301Z,1628864902.301 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:22.301Z,1628864902.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:22.302Z,1628864902.302 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:22.714Z,1628864902.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DED,000,00353,187,80,80,95,FF 2021-08-13T14:28:22.714Z,1628864902.714 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:22.715Z,1628864902.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:22.717Z,1628864902.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:23.112Z,1628864903.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:23.537Z,1628864903.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,0034B,189,80,80,92,FF 2021-08-13T14:28:23.537Z,1628864903.537 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:23.608Z,1628864903.608 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:23.957Z,1628864903.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142824.24*51 2021-08-13T14:28:23.991Z,1628864903.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 300.586899 deg, deltaT: 4.513661 s, approachRate: -0.106343 m/s, LOS rate: 0.174009 deg/s, posRepo size: 4 2021-08-13T14:28:26.394Z,1628864906.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:26.753Z,1628864906.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:26.753Z,1628864906.753 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:26.753Z,1628864906.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:26.754Z,1628864906.754 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:27.149Z,1628864907.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DDB,000,0034B,189,80,80,92,FF 2021-08-13T14:28:27.149Z,1628864907.149 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:27.149Z,1628864907.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:27.151Z,1628864907.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:27.602Z,1628864907.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:27.965Z,1628864907.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,00345,187,80,80,8C,FF 2021-08-13T14:28:27.966Z,1628864907.966 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:27.985Z,1628864907.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:28.373Z,1628864908.373 [Micromodem](INFO): Nmea in: $SNTTA,0.416668,0.416674,,,142828.68*58 2021-08-13T14:28:28.428Z,1628864908.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 299.051582 deg, deltaT: 4.376658 s, approachRate: -0.082255 m/s, LOS rate: -0.350797 deg/s, posRepo size: 4 2021-08-13T14:28:30.510Z,1628864910.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:30.793Z,1628864910.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:30.793Z,1628864910.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:30.793Z,1628864910.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:30.794Z,1628864910.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:31.193Z,1628864911.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DF4,000,00345,187,80,80,8C,FF 2021-08-13T14:28:31.193Z,1628864911.193 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:31.193Z,1628864911.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:31.195Z,1628864911.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:31.604Z,1628864911.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:32.006Z,1628864912.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00340,188,80,80,6B,FF 2021-08-13T14:28:32.006Z,1628864912.006 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:32.030Z,1628864912.030 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:32.413Z,1628864912.413 [Micromodem](INFO): Nmea in: $SNTTA,0.394573,0.394442,,,142832.72*56 2021-08-13T14:28:32.511Z,1628864912.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 300.162799 deg, deltaT: 4.044946 s, approachRate: -0.074167 m/s, LOS rate: 0.274717 deg/s, posRepo size: 4 2021-08-13T14:28:34.851Z,1628864914.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:35.229Z,1628864915.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:35.229Z,1628864915.229 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:35.229Z,1628864915.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:35.230Z,1628864915.230 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:35.637Z,1628864915.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DE2,000,00340,188,80,80,6B,FF 2021-08-13T14:28:35.637Z,1628864915.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:35.638Z,1628864915.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:35.639Z,1628864915.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:36.045Z,1628864916.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:36.466Z,1628864916.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,0033A,189,80,80,72,FF 2021-08-13T14:28:36.467Z,1628864916.467 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:36.470Z,1628864916.470 [Micromodem](INFO): Nmea in: $SNTTA,0.134214,0.173027,,,142837.16*53 2021-08-13T14:28:36.617Z,1628864916.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:36.902Z,1628864916.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 237.567968 deg, deltaT: 4.587765 s, approachRate: -0.078470 m/s, LOS rate: -13.643862 deg/s, posRepo size: 4 2021-08-13T14:28:39.289Z,1628864919.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:39.676Z,1628864919.676 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:39.677Z,1628864919.677 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:39.677Z,1628864919.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:39.678Z,1628864919.678 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:40.080Z,1628864920.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2CC,000,0033A,189,80,80,72,FF 2021-08-13T14:28:40.081Z,1628864920.081 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:40.081Z,1628864920.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:40.087Z,1628864920.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:40.521Z,1628864920.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:40.933Z,1628864920.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00333,189,80,80,6E,FF 2021-08-13T14:28:40.933Z,1628864920.933 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:40.976Z,1628864920.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:41.349Z,1628864921.349 [Micromodem](INFO): Nmea in: $SNTTA,0.123861,,,,142841.63*40 2021-08-13T14:28:41.380Z,1628864921.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 239.261117 deg, deltaT: 4.359027 s, approachRate: -0.096350 m/s, LOS rate: 0.388424 deg/s, posRepo size: 4 2021-08-13T14:28:43.788Z,1628864923.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:44.184Z,1628864924.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:44.184Z,1628864924.184 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:44.185Z,1628864924.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:44.186Z,1628864924.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:44.554Z,1628864924.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 2A8,000,00333,189,80,80,6E,FF 2021-08-13T14:28:44.554Z,1628864924.554 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:44.554Z,1628864924.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:44.556Z,1628864924.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:44.956Z,1628864924.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:45.361Z,1628864925.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0032C,189,80,80,7E,FF 2021-08-13T14:28:45.362Z,1628864925.362 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:45.381Z,1628864925.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:45.793Z,1628864925.793 [Micromodem](INFO): Nmea in: $SNTTA,0.044387,,,,142846.08*49 2021-08-13T14:28:45.830Z,1628864925.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 241.793041 deg, deltaT: 4.404236 s, approachRate: -0.095363 m/s, LOS rate: 0.574884 deg/s, posRepo size: 4 2021-08-13T14:28:48.235Z,1628864928.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:48.597Z,1628864928.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:48.597Z,1628864928.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:48.597Z,1628864928.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:48.598Z,1628864928.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:48.997Z,1628864928.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 272,000,0032C,189,80,80,7E,FF 2021-08-13T14:28:48.997Z,1628864928.997 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:48.997Z,1628864928.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:48.999Z,1628864928.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:49.416Z,1628864929.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:50.230Z,1628864930.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142850.52*53 2021-08-13T14:28:51.034Z,1628864931.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:52.629Z,1628864932.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 C,189,80,80,7E,FF 2021-08-13T14:28:52.629Z,1628864932.629 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 C,189,80,80,7E,FF 2021-08-13T14:28:52.630Z,1628864932.630 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:28:53.884Z,1628864933.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:54.245Z,1628864934.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:54.245Z,1628864934.245 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:54.245Z,1628864934.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:54.246Z,1628864934.246 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:54.667Z,1628864934.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 C,189,80,80,7E,FF 2021-08-13T14:28:54.667Z,1628864934.667 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:54.667Z,1628864934.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:54.669Z,1628864934.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:55.065Z,1628864935.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:55.497Z,1628864935.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0031B,185,80,80,78,FF 2021-08-13T14:28:55.498Z,1628864935.498 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:55.548Z,1628864935.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:28:55.898Z,1628864935.898 [Micromodem](INFO): Nmea in: $SNTTA,0.037478,,,,142856.19*4B 2021-08-13T14:28:55.919Z,1628864935.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 295.345057 deg, deltaT: 10.167756 s, approachRate: -0.100317 m/s, LOS rate: 5.266847 deg/s, posRepo size: 4 2021-08-13T14:28:58.337Z,1628864938.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:28:58.733Z,1628864938.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:28:58.733Z,1628864938.733 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:28:58.733Z,1628864938.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:28:58.734Z,1628864938.734 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:28:59.101Z,1628864939.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E50,000,0031B,185,80,80,78,FF 2021-08-13T14:28:59.101Z,1628864939.101 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:28:59.102Z,1628864939.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:28:59.103Z,1628864939.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:28:59.527Z,1628864939.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:28:59.911Z,1628864939.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,00315,189,80,80,8B,FF 2021-08-13T14:28:59.911Z,1628864939.911 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:28:59.977Z,1628864939.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:00.327Z,1628864940.327 [Micromodem](INFO): Nmea in: $SNTTA,0.032697,0.441186,,,142900.63*52 2021-08-13T14:29:00.395Z,1628864940.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 314.066660 deg, deltaT: 4.428151 s, approachRate: -0.081299 m/s, LOS rate: 4.227860 deg/s, posRepo size: 4 2021-08-13T14:29:02.794Z,1628864942.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:03.137Z,1628864943.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:03.137Z,1628864943.137 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:03.137Z,1628864943.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:03.138Z,1628864943.138 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:03.542Z,1628864943.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE3,000,00315,189,80,80,8B,FF 2021-08-13T14:29:03.542Z,1628864943.542 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:03.543Z,1628864943.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:03.545Z,1628864943.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:03.952Z,1628864943.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:04.355Z,1628864944.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,0030F,188,80,80,AA,FF 2021-08-13T14:29:04.355Z,1628864944.355 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:04.479Z,1628864944.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:04.785Z,1628864944.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142905.07*52 2021-08-13T14:29:04.822Z,1628864944.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 303.322663 deg, deltaT: 4.502262 s, approachRate: -0.079960 m/s, LOS rate: -2.386355 deg/s, posRepo size: 4 2021-08-13T14:29:07.238Z,1628864947.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:07.587Z,1628864947.587 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:07.587Z,1628864947.587 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:07.587Z,1628864947.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:07.589Z,1628864947.589 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:07.985Z,1628864947.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DC1,000,0030F,188,80,80,AA,FF 2021-08-13T14:29:07.985Z,1628864947.985 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:07.985Z,1628864947.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:07.987Z,1628864947.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:08.400Z,1628864948.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:08.790Z,1628864948.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,0030A,188,80,80,AE,FF 2021-08-13T14:29:08.790Z,1628864948.790 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:08.842Z,1628864948.842 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:09.243Z,1628864949.243 [Micromodem](INFO): Nmea in: $SNTTA,0.037484,,,,142909.51*4F 2021-08-13T14:29:09.278Z,1628864949.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 305.256891 deg, deltaT: 4.363030 s, approachRate: -0.068759 m/s, LOS rate: 0.443322 deg/s, posRepo size: 4 2021-08-13T14:29:11.674Z,1628864951.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:12.025Z,1628864952.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:12.025Z,1628864952.025 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:12.025Z,1628864952.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:12.026Z,1628864952.026 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:12.441Z,1628864952.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DAC,000,0030A,188,80,80,AE,FF 2021-08-13T14:29:12.441Z,1628864952.441 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:12.442Z,1628864952.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:12.447Z,1628864952.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:12.841Z,1628864952.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:13.237Z,1628864953.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,00304,188,80,80,BC,FF 2021-08-13T14:29:13.238Z,1628864953.238 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:13.305Z,1628864953.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:13.670Z,1628864953.670 [Micromodem](INFO): Nmea in: $SNTTA,0.034853,,,,142913.97*4B 2021-08-13T14:29:13.783Z,1628864953.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 312.334142 deg, deltaT: 4.463838 s, approachRate: -0.080648 m/s, LOS rate: 1.585463 deg/s, posRepo size: 4 2021-08-13T14:29:16.159Z,1628864956.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:16.485Z,1628864956.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:16.485Z,1628864956.485 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:16.485Z,1628864956.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:16.486Z,1628864956.486 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:16.894Z,1628864956.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D31,000,00304,188,80,80,BC,FF 2021-08-13T14:29:16.894Z,1628864956.894 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:16.894Z,1628864956.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:16.897Z,1628864956.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:17.296Z,1628864957.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:17.705Z,1628864957.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,00302,189,80,80,BF,FF 2021-08-13T14:29:17.706Z,1628864957.706 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:17.770Z,1628864957.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:18.167Z,1628864958.167 [Micromodem](INFO): Nmea in: $SNTTA,0.046336,,,,142918.42*45 2021-08-13T14:29:18.242Z,1628864958.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 311.929111 deg, deltaT: 4.464095 s, approachRate: -0.026881 m/s, LOS rate: -0.090731 deg/s, posRepo size: 4 2021-08-13T14:29:20.583Z,1628864960.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:20.933Z,1628864960.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:20.933Z,1628864960.933 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:20.933Z,1628864960.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:20.934Z,1628864960.934 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:21.341Z,1628864961.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D41,000,00302,189,80,80,BF,FF 2021-08-13T14:29:21.341Z,1628864961.341 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:21.341Z,1628864961.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:21.343Z,1628864961.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:21.749Z,1628864961.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:22.181Z,1628864962.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,002FB,189,80,80,A0,FF 2021-08-13T14:29:22.181Z,1628864962.181 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:22.299Z,1628864962.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:22.586Z,1628864962.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142922.87*5F 2021-08-13T14:29:22.611Z,1628864962.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 322.487791 deg, deltaT: 4.533645 s, approachRate: -0.092641 m/s, LOS rate: 2.328960 deg/s, posRepo size: 4 2021-08-13T14:29:25.002Z,1628864965.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:25.377Z,1628864965.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:25.377Z,1628864965.377 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:25.377Z,1628864965.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:25.378Z,1628864965.378 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:25.789Z,1628864965.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C7F,000,002FB,189,80,80,A0,FF 2021-08-13T14:29:25.789Z,1628864965.789 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:25.789Z,1628864965.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:25.791Z,1628864965.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:26.200Z,1628864966.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:26.213Z,1628864966.213 [Micromodem](INFO): Nmea in: OPROC,0.20.0.39330*70 2021-08-13T14:29:26.214Z,1628864966.214 [Micromodem](ERROR): Response from modem failed NMEA checksum: OPROC,0.20.0.39330*70 expected 0 2021-08-13T14:29:26.590Z,1628864966.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,002F8,189,80,80,AE,FF 2021-08-13T14:29:26.591Z,1628864966.591 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:26.620Z,1628864966.620 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:27.017Z,1628864967.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 321.520637 deg, deltaT: 4.316601 s, approachRate: -0.041699 m/s, LOS rate: -0.224055 deg/s, posRepo size: 4 2021-08-13T14:29:29.430Z,1628864969.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:29.829Z,1628864969.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:29.829Z,1628864969.829 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:29.829Z,1628864969.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:29.829Z,1628864969.829 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:30.225Z,1628864970.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CA3,000,002F8,189,80,80,AE,FF 2021-08-13T14:29:30.225Z,1628864970.225 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:30.225Z,1628864970.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:30.227Z,1628864970.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:30.632Z,1628864970.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:31.038Z,1628864971.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C09,000,002F4,188,80,80,78,FF 2021-08-13T14:29:31.038Z,1628864971.038 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:31.067Z,1628864971.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:31.477Z,1628864971.477 [Micromodem](INFO): Nmea in: $SNTTA,0.039839,,,,142931.75*46 2021-08-13T14:29:31.499Z,1628864971.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 329.701591 deg, deltaT: 4.447901 s, approachRate: -0.053959 m/s, LOS rate: 1.839284 deg/s, posRepo size: 4 2021-08-13T14:29:33.903Z,1628864973.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:34.277Z,1628864974.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:34.277Z,1628864974.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:34.277Z,1628864974.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:34.278Z,1628864974.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:34.673Z,1628864974.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C09,000,002F4,188,80,80,78,FF 2021-08-13T14:29:34.673Z,1628864974.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:34.673Z,1628864974.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:34.675Z,1628864974.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:35.086Z,1628864975.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:35.505Z,1628864975.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BDB,000,002EF,18A,80,80,94,FF 2021-08-13T14:29:35.506Z,1628864975.506 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:35.541Z,1628864975.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:35.922Z,1628864975.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142936.20*57 2021-08-13T14:29:35.949Z,1628864975.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.559999 m, bearing: 332.130051 deg, deltaT: 4.473984 s, approachRate: -0.067054 m/s, LOS rate: 0.542796 deg/s, posRepo size: 4 2021-08-13T14:29:38.357Z,1628864978.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:38.717Z,1628864978.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:38.717Z,1628864978.717 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:38.717Z,1628864978.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:38.718Z,1628864978.718 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:39.113Z,1628864979.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P BDB,000,002EF,18A,80,80,94,FF 2021-08-13T14:29:39.113Z,1628864979.113 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:39.113Z,1628864979.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:39.115Z,1628864979.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:39.521Z,1628864979.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:39.938Z,1628864979.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7A,000,002EE,188,80,80,8E,FF 2021-08-13T14:29:39.939Z,1628864979.939 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:40.026Z,1628864980.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:40.349Z,1628864980.349 [Micromodem](INFO): Nmea in: $SNTTA,0.037052,0.434039,,,142940.64*5C 2021-08-13T14:29:40.396Z,1628864980.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 324.504938 deg, deltaT: 4.484427 s, approachRate: -0.013380 m/s, LOS rate: -1.700354 deg/s, posRepo size: 4 2021-08-13T14:29:42.797Z,1628864982.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:43.153Z,1628864983.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:43.153Z,1628864983.153 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:43.153Z,1628864983.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:43.154Z,1628864983.154 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:43.562Z,1628864983.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P C7A,000,002EE,188,80,80,8E,FF 2021-08-13T14:29:43.562Z,1628864983.562 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:43.562Z,1628864983.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:43.563Z,1628864983.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:43.969Z,1628864983.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:44.365Z,1628864984.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,002ED,189,80,80,9D,FF 2021-08-13T14:29:44.366Z,1628864984.366 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:44.369Z,1628864984.369 [Micromodem](INFO): Nmea in: $SNTTA,0.169796,0.169540,,,142945.09*51 2021-08-13T14:29:44.479Z,1628864984.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:44.826Z,1628864984.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 317.288761 deg, deltaT: 4.452736 s, approachRate: -0.013474 m/s, LOS rate: -1.620616 deg/s, posRepo size: 4 2021-08-13T14:29:47.230Z,1628864987.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:47.601Z,1628864987.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:47.601Z,1628864987.601 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:47.601Z,1628864987.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:47.602Z,1628864987.602 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:48.001Z,1628864988.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D10,000,002ED,189,80,80,9D,FF 2021-08-13T14:29:48.001Z,1628864988.001 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:48.001Z,1628864988.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:48.003Z,1628864988.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:48.469Z,1628864988.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:48.841Z,1628864988.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,002EB,189,80,80,AF,FF 2021-08-13T14:29:48.841Z,1628864988.841 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:48.911Z,1628864988.911 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:49.265Z,1628864989.265 [Micromodem](INFO): Nmea in: $SNTTA,0.038225,,,,142949.53*4B 2021-08-13T14:29:49.303Z,1628864989.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 318.956119 deg, deltaT: 4.431957 s, approachRate: -0.027076 m/s, LOS rate: 0.376213 deg/s, posRepo size: 4 2021-08-13T14:29:51.705Z,1628864991.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:52.074Z,1628864992.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:52.075Z,1628864992.075 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:52.075Z,1628864992.075 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:52.077Z,1628864992.077 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:52.497Z,1628864992.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CF0,000,002EB,189,80,80,AF,FF 2021-08-13T14:29:52.497Z,1628864992.497 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:52.497Z,1628864992.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:52.499Z,1628864992.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:52.925Z,1628864992.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:53.315Z,1628864993.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,002EC,18A,80,80,90,FF 2021-08-13T14:29:53.315Z,1628864993.315 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:53.335Z,1628864993.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:53.801Z,1628864993.801 [Micromodem](INFO): Nmea in: $SNTTA,0.029620,,,,142954.02*42 2021-08-13T14:29:53.849Z,1628864993.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 308.782334 deg, deltaT: 4.423537 s, approachRate: 0.013564 m/s, LOS rate: -2.299921 deg/s, posRepo size: 4 2021-08-13T14:29:56.223Z,1628864996.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:29:56.549Z,1628864996.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:29:56.549Z,1628864996.549 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:29:56.550Z,1628864996.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:29:56.551Z,1628864996.551 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:29:56.965Z,1628864996.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DB7,000,002EC,18A,80,80,90,FF 2021-08-13T14:29:56.965Z,1628864996.965 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:29:56.966Z,1628864996.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:29:56.967Z,1628864996.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:29:57.353Z,1628864997.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:29:57.761Z,1628864997.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,002EE,189,80,80,92,FF 2021-08-13T14:29:57.762Z,1628864997.762 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:29:57.791Z,1628864997.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:29:58.197Z,1628864998.197 [Micromodem](INFO): Nmea in: $SNTTA,,0.469637,,,142958.49*47 2021-08-13T14:29:58.267Z,1628864998.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 307.564620 deg, deltaT: 4.456144 s, approachRate: 0.026929 m/s, LOS rate: -0.273266 deg/s, posRepo size: 4 2021-08-13T14:30:00.635Z,1628865000.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:00.985Z,1628865000.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:00.985Z,1628865000.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:00.985Z,1628865000.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:00.986Z,1628865000.986 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:01.385Z,1628865001.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DCB,000,002EE,189,80,80,92,FF 2021-08-13T14:30:01.385Z,1628865001.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:01.386Z,1628865001.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:01.387Z,1628865001.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:01.797Z,1628865001.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:02.213Z,1628865002.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,002F2,186,80,80,A3,FF 2021-08-13T14:30:02.214Z,1628865002.214 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:02.217Z,1628865002.217 [Micromodem](INFO): Nmea in: $SNTTA,0.004933,0.298731,,,143002.91*59 2021-08-13T14:30:02.345Z,1628865002.345 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:02.645Z,1628865002.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 302.561042 deg, deltaT: 4.553787 s, approachRate: 0.052704 m/s, LOS rate: -1.098773 deg/s, posRepo size: 4 2021-08-13T14:30:05.038Z,1628865005.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:05.429Z,1628865005.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:05.429Z,1628865005.429 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:05.429Z,1628865005.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:05.430Z,1628865005.430 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:05.833Z,1628865005.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E23,000,002F2,186,80,80,A3,FF 2021-08-13T14:30:05.833Z,1628865005.833 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:05.833Z,1628865005.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:05.835Z,1628865005.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:06.247Z,1628865006.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:06.641Z,1628865006.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E38,000,002F3,187,80,80,AC,FF 2021-08-13T14:30:06.642Z,1628865006.642 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:06.671Z,1628865006.671 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:07.081Z,1628865007.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143007.36*5A 2021-08-13T14:30:07.123Z,1628865007.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.800001 m, bearing: 300.778363 deg, deltaT: 4.326791 s, approachRate: 0.013867 m/s, LOS rate: -0.412010 deg/s, posRepo size: 4 2021-08-13T14:30:09.538Z,1628865009.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:09.878Z,1628865009.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:09.878Z,1628865009.878 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:09.879Z,1628865009.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:09.880Z,1628865009.880 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:10.277Z,1628865010.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E38,000,002F3,187,80,80,AC,FF 2021-08-13T14:30:10.277Z,1628865010.277 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:10.277Z,1628865010.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:10.279Z,1628865010.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:10.702Z,1628865010.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:11.085Z,1628865011.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,002F3,186,80,80,BC,FF 2021-08-13T14:30:11.086Z,1628865011.086 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:11.109Z,1628865011.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:11.525Z,1628865011.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143011.81*51 2021-08-13T14:30:11.574Z,1628865011.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.800001 m, bearing: 297.577627 deg, deltaT: 4.438132 s, approachRate: 0.000000 m/s, LOS rate: -0.721190 deg/s, posRepo size: 4 2021-08-13T14:30:13.973Z,1628865013.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:14.329Z,1628865014.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:14.329Z,1628865014.329 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:14.329Z,1628865014.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:14.330Z,1628865014.330 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:14.726Z,1628865014.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E6B,000,002F3,186,80,80,BC,FF 2021-08-13T14:30:14.726Z,1628865014.726 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:14.726Z,1628865014.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:14.728Z,1628865014.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:15.132Z,1628865015.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:15.545Z,1628865015.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,002F8,186,80,80,B7,FF 2021-08-13T14:30:15.545Z,1628865015.545 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:15.610Z,1628865015.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:15.969Z,1628865015.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143016.25*58 2021-08-13T14:30:16.006Z,1628865016.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 296.377836 deg, deltaT: 4.500612 s, approachRate: 0.066658 m/s, LOS rate: -0.266584 deg/s, posRepo size: 4 2021-08-13T14:30:18.412Z,1628865018.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:18.765Z,1628865018.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:18.765Z,1628865018.765 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:18.765Z,1628865018.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:18.766Z,1628865018.766 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:19.181Z,1628865019.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7A,000,002F8,186,80,80,B7,FF 2021-08-13T14:30:19.181Z,1628865019.181 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:19.181Z,1628865019.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:19.183Z,1628865019.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:19.573Z,1628865019.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:19.982Z,1628865019.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,002FA,186,80,80,BA,FF 2021-08-13T14:30:19.982Z,1628865019.982 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:20.034Z,1628865020.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:20.393Z,1628865020.393 [Micromodem](INFO): Nmea in: $SNTTA,0.053507,0.360223,,,143020.71*5E 2021-08-13T14:30:20.494Z,1628865020.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 292.730105 deg, deltaT: 4.423664 s, approachRate: 0.027126 m/s, LOS rate: -0.824595 deg/s, posRepo size: 4 2021-08-13T14:30:22.853Z,1628865022.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:23.221Z,1628865023.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:23.221Z,1628865023.221 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:23.221Z,1628865023.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:23.222Z,1628865023.222 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:23.618Z,1628865023.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EAD,000,002FA,186,80,80,BA,FF 2021-08-13T14:30:23.618Z,1628865023.618 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:23.618Z,1628865023.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:23.619Z,1628865023.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:24.037Z,1628865024.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:24.421Z,1628865024.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,002FF,187,80,80,C8,FF 2021-08-13T14:30:24.422Z,1628865024.422 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:24.425Z,1628865024.425 [Micromodem](INFO): Nmea in: $SNTTA,0.181554,0.143541,,,143025.14*50 2021-08-13T14:30:24.555Z,1628865024.555 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:24.883Z,1628865024.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 289.262090 deg, deltaT: 4.529719 s, approachRate: 0.066230 m/s, LOS rate: -0.765614 deg/s, posRepo size: 4 2021-08-13T14:30:27.330Z,1628865027.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:27.649Z,1628865027.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:27.649Z,1628865027.649 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:27.649Z,1628865027.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:27.650Z,1628865027.650 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:28.096Z,1628865028.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE4,000,002FF,187,80,80,C8,FF 2021-08-13T14:30:28.097Z,1628865028.097 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:28.098Z,1628865028.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:28.103Z,1628865028.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:28.482Z,1628865028.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:28.859Z,1628865028.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00302,186,80,80,C1,FF 2021-08-13T14:30:28.859Z,1628865028.859 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:28.928Z,1628865028.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:29.297Z,1628865029.297 [Micromodem](INFO): Nmea in: $SNTTA,0.029509,,,,143029.63*4F 2021-08-13T14:30:29.323Z,1628865029.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 286.962393 deg, deltaT: 4.364565 s, approachRate: 0.041241 m/s, LOS rate: -0.526902 deg/s, posRepo size: 4 2021-08-13T14:30:31.769Z,1628865031.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:32.105Z,1628865032.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:32.105Z,1628865032.105 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:32.106Z,1628865032.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:32.128Z,1628865032.128 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:32.509Z,1628865032.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0C,000,00302,186,80,80,C1,FF 2021-08-13T14:30:32.509Z,1628865032.509 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:32.509Z,1628865032.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:32.511Z,1628865032.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:32.929Z,1628865032.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:33.309Z,1628865033.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00307,186,80,80,B1,FF 2021-08-13T14:30:33.309Z,1628865033.309 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:33.329Z,1628865033.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:33.749Z,1628865033.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143034.04*5B 2021-08-13T14:30:33.794Z,1628865033.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 284.431070 deg, deltaT: 4.401145 s, approachRate: 0.068164 m/s, LOS rate: -0.575151 deg/s, posRepo size: 4 2021-08-13T14:30:36.243Z,1628865036.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:36.541Z,1628865036.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:36.541Z,1628865036.541 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:36.541Z,1628865036.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:36.542Z,1628865036.542 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:36.941Z,1628865036.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F47,000,00307,186,80,80,B1,FF 2021-08-13T14:30:36.941Z,1628865036.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:36.942Z,1628865036.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:36.943Z,1628865036.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:37.357Z,1628865037.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:37.757Z,1628865037.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00308,186,80,80,A8,FF 2021-08-13T14:30:37.758Z,1628865037.758 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:37.833Z,1628865037.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:38.201Z,1628865038.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143038.47*50 2021-08-13T14:30:38.252Z,1628865038.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 281.708448 deg, deltaT: 4.503609 s, approachRate: 0.013323 m/s, LOS rate: -0.604542 deg/s, posRepo size: 4 2021-08-13T14:30:40.604Z,1628865040.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:40.981Z,1628865040.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:40.981Z,1628865040.981 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:40.981Z,1628865040.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:40.982Z,1628865040.982 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:41.385Z,1628865041.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F80,000,00308,186,80,80,A8,FF 2021-08-13T14:30:41.385Z,1628865041.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:41.385Z,1628865041.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:41.387Z,1628865041.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:41.803Z,1628865041.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:42.216Z,1628865042.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6F,000,00309,186,80,80,73,FF 2021-08-13T14:30:42.216Z,1628865042.216 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:42.219Z,1628865042.219 [Micromodem](INFO): Nmea in: $SNTTA,0.299476,0.300258,,,143042.91*5D 2021-08-13T14:30:42.293Z,1628865042.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:42.653Z,1628865042.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 283.266660 deg, deltaT: 4.463354 s, approachRate: 0.013443 m/s, LOS rate: 0.349112 deg/s, posRepo size: 4 2021-08-13T14:30:45.049Z,1628865045.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:45.426Z,1628865045.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:45.426Z,1628865045.426 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:45.426Z,1628865045.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:45.427Z,1628865045.427 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:45.837Z,1628865045.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6F,000,00309,186,80,80,73,FF 2021-08-13T14:30:45.837Z,1628865045.837 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:45.837Z,1628865045.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:45.839Z,1628865045.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:46.237Z,1628865046.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:46.637Z,1628865046.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,0030D,185,80,80,B1,FF 2021-08-13T14:30:46.638Z,1628865046.638 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:46.644Z,1628865046.644 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:30:46.664Z,1628865046.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:47.073Z,1628865047.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143047.36*5E 2021-08-13T14:30:47.124Z,1628865047.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 280.232116 deg, deltaT: 4.367617 s, approachRate: 0.054950 m/s, LOS rate: -0.694782 deg/s, posRepo size: 4 2021-08-13T14:30:49.532Z,1628865049.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:49.877Z,1628865049.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:49.878Z,1628865049.878 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:49.878Z,1628865049.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:49.879Z,1628865049.879 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:50.273Z,1628865050.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB8,000,0030D,185,80,80,B1,FF 2021-08-13T14:30:50.273Z,1628865050.273 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:50.274Z,1628865050.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:50.275Z,1628865050.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:50.679Z,1628865050.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:51.086Z,1628865051.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00314,183,80,80,87,FF 2021-08-13T14:30:51.086Z,1628865051.086 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:51.105Z,1628865051.105 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:51.533Z,1628865051.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143051.80*54 2021-08-13T14:30:51.571Z,1628865051.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 277.923512 deg, deltaT: 4.441195 s, approachRate: 0.094570 m/s, LOS rate: -0.519816 deg/s, posRepo size: 4 2021-08-13T14:30:53.964Z,1628865053.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:54.309Z,1628865054.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:54.309Z,1628865054.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:54.309Z,1628865054.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:54.310Z,1628865054.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:54.713Z,1628865054.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF3,000,00314,183,80,80,87,FF 2021-08-13T14:30:54.713Z,1628865054.713 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:54.713Z,1628865054.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:54.715Z,1628865054.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:55.120Z,1628865055.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:55.530Z,1628865055.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0031B,183,80,80,B0,FF 2021-08-13T14:30:55.530Z,1628865055.530 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:55.549Z,1628865055.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:30:55.961Z,1628865055.961 [Micromodem](INFO): Nmea in: $SNTTA,0.028244,,,,143056.24*4B 2021-08-13T14:30:55.984Z,1628865055.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 277.099846 deg, deltaT: 4.443802 s, approachRate: 0.094514 m/s, LOS rate: -0.185352 deg/s, posRepo size: 4 2021-08-13T14:30:58.402Z,1628865058.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:30:58.753Z,1628865058.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:30:58.753Z,1628865058.753 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:30:58.753Z,1628865058.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:30:58.754Z,1628865058.754 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:30:59.157Z,1628865059.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 010,000,0031B,183,80,80,B0,FF 2021-08-13T14:30:59.157Z,1628865059.157 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:30:59.157Z,1628865059.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:30:59.159Z,1628865059.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:30:59.565Z,1628865059.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:30:59.974Z,1628865059.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00320,183,80,80,9D,FF 2021-08-13T14:30:59.974Z,1628865059.974 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:30:59.993Z,1628865059.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:00.381Z,1628865060.381 [Micromodem](INFO): Nmea in: $SNTTA,0.414119,0.414206,,,143100.68*5A 2021-08-13T14:31:00.475Z,1628865060.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 277.195550 deg, deltaT: 4.444606 s, approachRate: 0.067497 m/s, LOS rate: 0.021533 deg/s, posRepo size: 4 2021-08-13T14:31:02.824Z,1628865062.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:03.210Z,1628865063.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:03.210Z,1628865063.210 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:03.210Z,1628865063.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:03.211Z,1628865063.211 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:03.601Z,1628865063.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 018,000,00320,183,80,80,9D,FF 2021-08-13T14:31:03.601Z,1628865063.601 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:03.602Z,1628865063.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:03.603Z,1628865063.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:04.013Z,1628865064.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:04.409Z,1628865064.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,0034C,186,80,80,6C,FF 2021-08-13T14:31:04.409Z,1628865064.409 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:04.492Z,1628865064.492 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:04.853Z,1628865064.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143105.13*5E 2021-08-13T14:31:04.881Z,1628865064.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 267.362755 deg, deltaT: 4.498981 s, approachRate: 0.586799 m/s, LOS rate: -2.185560 deg/s, posRepo size: 4 2021-08-13T14:31:07.269Z,1628865067.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:07.653Z,1628865067.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:07.653Z,1628865067.653 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:07.654Z,1628865067.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:07.654Z,1628865067.654 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:08.049Z,1628865068.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0ED,000,0034C,186,80,80,6C,FF 2021-08-13T14:31:08.049Z,1628865068.049 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:08.049Z,1628865068.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:08.051Z,1628865068.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:08.479Z,1628865068.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:08.853Z,1628865068.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,00341,186,80,80,71,FF 2021-08-13T14:31:08.854Z,1628865068.854 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:08.924Z,1628865068.924 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:09.305Z,1628865069.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143109.57*52 2021-08-13T14:31:09.324Z,1628865069.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 269.610980 deg, deltaT: 4.431708 s, approachRate: -0.148927 m/s, LOS rate: 0.507304 deg/s, posRepo size: 4 2021-08-13T14:31:11.724Z,1628865071.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:12.112Z,1628865072.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:12.113Z,1628865072.113 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:12.114Z,1628865072.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:12.115Z,1628865072.115 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:12.522Z,1628865072.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0CB,000,00341,186,80,80,71,FF 2021-08-13T14:31:12.522Z,1628865072.522 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:12.522Z,1628865072.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:12.524Z,1628865072.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:12.903Z,1628865072.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:13.305Z,1628865073.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00335,186,80,80,9E,FF 2021-08-13T14:31:13.306Z,1628865073.306 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:13.326Z,1628865073.326 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:13.723Z,1628865073.723 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143114.05*59 2021-08-13T14:31:13.761Z,1628865073.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 267.968429 deg, deltaT: 4.402239 s, approachRate: -0.163553 m/s, LOS rate: -0.373117 deg/s, posRepo size: 4 2021-08-13T14:31:16.215Z,1628865076.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:16.533Z,1628865076.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:16.533Z,1628865076.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:16.533Z,1628865076.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:16.534Z,1628865076.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:16.941Z,1628865076.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0F5,000,00335,186,80,80,9E,FF 2021-08-13T14:31:16.941Z,1628865076.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:16.941Z,1628865076.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:16.943Z,1628865076.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:17.373Z,1628865077.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:17.753Z,1628865077.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,00349,186,80,80,71,FF 2021-08-13T14:31:17.753Z,1628865077.753 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:17.802Z,1628865077.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:18.190Z,1628865078.190 [Micromodem](INFO): Nmea in: $SNTTA,0.072168,0.482365,,,143118.47*57 2021-08-13T14:31:18.264Z,1628865078.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 267.511271 deg, deltaT: 4.476069 s, approachRate: 0.268093 m/s, LOS rate: -0.102134 deg/s, posRepo size: 4 2021-08-13T14:31:20.636Z,1628865080.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:20.981Z,1628865080.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:20.981Z,1628865080.981 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:20.981Z,1628865080.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:20.982Z,1628865080.982 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:21.381Z,1628865081.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0FD,000,00349,186,80,80,71,FF 2021-08-13T14:31:21.381Z,1628865081.381 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:21.381Z,1628865081.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:21.383Z,1628865081.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:21.797Z,1628865081.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:22.197Z,1628865082.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,00345,185,80,80,70,FF 2021-08-13T14:31:22.197Z,1628865082.197 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:22.285Z,1628865082.285 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:22.621Z,1628865082.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143122.91*51 2021-08-13T14:31:22.667Z,1628865082.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 263.595660 deg, deltaT: 4.482739 s, approachRate: -0.053539 m/s, LOS rate: -0.873486 deg/s, posRepo size: 4 2021-08-13T14:31:25.058Z,1628865085.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:25.423Z,1628865085.423 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:25.423Z,1628865085.423 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:25.423Z,1628865085.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:25.424Z,1628865085.424 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:25.831Z,1628865085.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 15C,000,00345,185,80,80,70,FF 2021-08-13T14:31:25.831Z,1628865085.831 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:25.831Z,1628865085.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:25.833Z,1628865085.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:26.233Z,1628865086.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:26.633Z,1628865086.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,00350,186,80,80,B3,FF 2021-08-13T14:31:26.633Z,1628865086.633 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:26.664Z,1628865086.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:27.073Z,1628865087.073 [Micromodem](INFO): Nmea in: $SNTTA,0.008797,,,,143127.36*46 2021-08-13T14:31:27.107Z,1628865087.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 263.055966 deg, deltaT: 4.378722 s, approachRate: 0.150729 m/s, LOS rate: -0.123254 deg/s, posRepo size: 4 2021-08-13T14:31:29.478Z,1628865089.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:29.865Z,1628865089.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:29.866Z,1628865089.866 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:29.866Z,1628865089.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:29.867Z,1628865089.867 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:30.273Z,1628865090.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 163,000,00350,186,80,80,B3,FF 2021-08-13T14:31:30.274Z,1628865090.274 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:30.274Z,1628865090.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:30.275Z,1628865090.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:30.712Z,1628865090.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:31.077Z,1628865091.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,00356,186,80,80,5D,FF 2021-08-13T14:31:31.077Z,1628865091.077 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:31.172Z,1628865091.172 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:31.522Z,1628865091.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143131.80*53 2021-08-13T14:31:31.544Z,1628865091.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 261.462756 deg, deltaT: 4.508015 s, approachRate: 0.079857 m/s, LOS rate: -0.353417 deg/s, posRepo size: 4 2021-08-13T14:31:33.942Z,1628865093.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:34.309Z,1628865094.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:34.309Z,1628865094.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:34.309Z,1628865094.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:34.310Z,1628865094.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:34.725Z,1628865094.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 180,000,00356,186,80,80,5D,FF 2021-08-13T14:31:34.725Z,1628865094.725 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:34.725Z,1628865094.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:34.727Z,1628865094.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:35.121Z,1628865095.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:35.537Z,1628865095.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,0036B,186,80,80,54,FF 2021-08-13T14:31:35.537Z,1628865095.537 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:35.591Z,1628865095.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:35.966Z,1628865095.966 [Micromodem](INFO): Nmea in: $SNTTA,0.027130,,,,143136.25*42 2021-08-13T14:31:35.991Z,1628865095.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 268.405315 deg, deltaT: 4.431687 s, approachRate: 0.284316 m/s, LOS rate: 1.566573 deg/s, posRepo size: 4 2021-08-13T14:31:38.404Z,1628865098.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:38.761Z,1628865098.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:38.761Z,1628865098.761 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:38.761Z,1628865098.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:38.762Z,1628865098.762 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:39.161Z,1628865099.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0EB,000,0036B,186,80,80,54,FF 2021-08-13T14:31:39.161Z,1628865099.161 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:39.162Z,1628865099.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:39.163Z,1628865099.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:39.579Z,1628865099.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:39.961Z,1628865099.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00373,186,80,80,69,FF 2021-08-13T14:31:39.962Z,1628865099.962 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:40.014Z,1628865100.014 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:40.429Z,1628865100.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143140.69*52 2021-08-13T14:31:40.531Z,1628865100.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 265.535079 deg, deltaT: 4.410449 s, approachRate: 0.108832 m/s, LOS rate: -0.650781 deg/s, posRepo size: 4 2021-08-13T14:31:42.846Z,1628865102.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:43.197Z,1628865103.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:43.197Z,1628865103.197 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:43.197Z,1628865103.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:43.198Z,1628865103.198 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:43.615Z,1628865103.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 119,000,00373,186,80,80,69,FF 2021-08-13T14:31:43.615Z,1628865103.615 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:43.616Z,1628865103.616 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:43.618Z,1628865103.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:44.008Z,1628865104.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:44.410Z,1628865104.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12F,000,0037B,185,80,80,64,FF 2021-08-13T14:31:44.411Z,1628865104.411 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:44.543Z,1628865104.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:44.849Z,1628865104.849 [Micromodem](INFO): Nmea in: $SNTTA,,0.095932,,,143145.14*47 2021-08-13T14:31:44.900Z,1628865104.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 263.100007 deg, deltaT: 4.528567 s, approachRate: 0.105995 m/s, LOS rate: -0.537714 deg/s, posRepo size: 4 2021-08-13T14:31:47.254Z,1628865107.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:47.655Z,1628865107.655 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:47.655Z,1628865107.655 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:47.655Z,1628865107.655 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:47.656Z,1628865107.656 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:48.045Z,1628865108.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 12F,000,0037B,185,80,80,64,FF 2021-08-13T14:31:48.045Z,1628865108.045 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:48.045Z,1628865108.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:48.047Z,1628865108.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:48.482Z,1628865108.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:48.853Z,1628865108.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,00375,186,80,80,87,FF 2021-08-13T14:31:48.853Z,1628865108.853 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:48.911Z,1628865108.911 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:49.302Z,1628865109.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143149.57*56 2021-08-13T14:31:49.327Z,1628865109.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 257.663969 deg, deltaT: 4.368413 s, approachRate: -0.082410 m/s, LOS rate: -1.244397 deg/s, posRepo size: 4 2021-08-13T14:31:51.727Z,1628865111.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:52.088Z,1628865112.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:52.089Z,1628865112.089 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:52.090Z,1628865112.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:52.091Z,1628865112.091 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:52.518Z,1628865112.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18C,000,00375,186,80,80,87,FF 2021-08-13T14:31:52.519Z,1628865112.519 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:52.519Z,1628865112.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:52.522Z,1628865112.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:52.906Z,1628865112.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:53.297Z,1628865113.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,0037E,185,80,80,9E,FF 2021-08-13T14:31:53.297Z,1628865113.297 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:53.365Z,1628865113.365 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:53.719Z,1628865113.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143154.05*5D 2021-08-13T14:31:53.757Z,1628865113.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 257.249813 deg, deltaT: 4.454650 s, approachRate: 0.121222 m/s, LOS rate: -0.092971 deg/s, posRepo size: 4 2021-08-13T14:31:56.221Z,1628865116.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:31:56.533Z,1628865116.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:31:56.533Z,1628865116.533 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:31:56.533Z,1628865116.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:31:56.534Z,1628865116.534 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:31:56.941Z,1628865116.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 17D,000,0037E,185,80,80,9E,FF 2021-08-13T14:31:56.941Z,1628865116.941 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:31:56.941Z,1628865116.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:31:56.943Z,1628865116.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:31:57.365Z,1628865117.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:31:57.741Z,1628865117.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,181,000,00384,186,80,80,86,FF 2021-08-13T14:31:57.742Z,1628865117.741 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:31:57.811Z,1628865117.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:31:58.203Z,1628865118.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143158.47*57 2021-08-13T14:31:58.302Z,1628865118.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 255.989643 deg, deltaT: 4.445021 s, approachRate: 0.080989 m/s, LOS rate: -0.283501 deg/s, posRepo size: 4 2021-08-13T14:32:00.607Z,1628865120.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:00.977Z,1628865120.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:00.977Z,1628865120.977 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:00.977Z,1628865120.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:00.978Z,1628865120.978 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:01.385Z,1628865121.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 181,000,00384,186,80,80,86,FF 2021-08-13T14:32:01.385Z,1628865121.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:01.385Z,1628865121.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:01.387Z,1628865121.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:01.784Z,1628865121.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:02.205Z,1628865122.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00398,186,80,80,87,FF 2021-08-13T14:32:02.205Z,1628865122.205 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:02.287Z,1628865122.287 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:02.629Z,1628865122.629 [Micromodem](INFO): Nmea in: $SNTTA,,0.298514,,,143202.91*4D 2021-08-13T14:32:02.671Z,1628865122.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 257.577499 deg, deltaT: 4.476061 s, approachRate: 0.268094 m/s, LOS rate: 0.354744 deg/s, posRepo size: 4 2021-08-13T14:32:05.034Z,1628865125.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:05.437Z,1628865125.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:05.437Z,1628865125.437 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:05.437Z,1628865125.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:05.438Z,1628865125.438 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:05.825Z,1628865125.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 151,000,00398,186,80,80,87,FF 2021-08-13T14:32:05.825Z,1628865125.825 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:05.825Z,1628865125.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:05.827Z,1628865125.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:06.237Z,1628865126.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:06.633Z,1628865126.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0039F,185,80,80,7C,FF 2021-08-13T14:32:06.634Z,1628865126.634 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:06.692Z,1628865126.692 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:07.073Z,1628865127.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143207.35*5B 2021-08-13T14:32:07.095Z,1628865127.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 257.565833 deg, deltaT: 4.405163 s, approachRate: 0.095343 m/s, LOS rate: -0.002648 deg/s, posRepo size: 4 2021-08-13T14:32:09.510Z,1628865129.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:09.858Z,1628865129.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:09.858Z,1628865129.858 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:09.858Z,1628865129.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:09.860Z,1628865129.860 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:10.273Z,1628865130.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 135,000,0039F,185,80,80,7C,FF 2021-08-13T14:32:10.273Z,1628865130.273 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:10.274Z,1628865130.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:10.275Z,1628865130.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:10.673Z,1628865130.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:11.077Z,1628865131.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,003A6,186,80,80,8C,FF 2021-08-13T14:32:11.077Z,1628865131.077 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:11.171Z,1628865131.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:11.533Z,1628865131.533 [Micromodem](INFO): Nmea in: $SNTTA,0.033635,,,,143211.80*4C 2021-08-13T14:32:11.587Z,1628865131.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 256.341753 deg, deltaT: 4.478774 s, approachRate: 0.093776 m/s, LOS rate: -0.273307 deg/s, posRepo size: 4 2021-08-13T14:32:13.938Z,1628865133.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:14.309Z,1628865134.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:14.309Z,1628865134.309 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:14.309Z,1628865134.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:14.310Z,1628865134.310 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:14.717Z,1628865134.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 12E,000,003A6,186,80,80,8C,FF 2021-08-13T14:32:14.717Z,1628865134.717 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:14.717Z,1628865134.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:14.719Z,1628865134.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:15.133Z,1628865135.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:15.533Z,1628865135.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,003A3,186,80,80,71,FF 2021-08-13T14:32:15.533Z,1628865135.533 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:15.562Z,1628865135.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:15.969Z,1628865135.969 [Micromodem](INFO): Nmea in: $SNTTA,0.034347,,,,143216.24*42 2021-08-13T14:32:15.991Z,1628865135.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 254.111861 deg, deltaT: 4.391639 s, approachRate: -0.040988 m/s, LOS rate: -0.507759 deg/s, posRepo size: 4 2021-08-13T14:32:18.400Z,1628865138.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:18.757Z,1628865138.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:18.757Z,1628865138.757 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:18.757Z,1628865138.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:18.758Z,1628865138.758 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:19.165Z,1628865139.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 14F,000,003A3,186,80,80,71,FF 2021-08-13T14:32:19.166Z,1628865139.166 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:19.166Z,1628865139.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:19.168Z,1628865139.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:19.569Z,1628865139.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:19.969Z,1628865139.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,003AA,185,80,80,69,FF 2021-08-13T14:32:19.969Z,1628865139.969 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:19.988Z,1628865139.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:20.405Z,1628865140.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143220.69*57 2021-08-13T14:32:20.530Z,1628865140.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 252.082338 deg, deltaT: 4.426219 s, approachRate: 0.094889 m/s, LOS rate: -0.458523 deg/s, posRepo size: 4 2021-08-13T14:32:22.515Z,1628865142.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:22.797Z,1628865142.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:22.797Z,1628865142.797 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:22.797Z,1628865142.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:22.798Z,1628865142.798 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:23.210Z,1628865143.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 166,000,003AA,185,80,80,69,FF 2021-08-13T14:32:23.210Z,1628865143.210 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:23.210Z,1628865143.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:23.212Z,1628865143.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:23.612Z,1628865143.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:24.009Z,1628865144.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,003AE,185,80,80,5C,FF 2021-08-13T14:32:24.009Z,1628865144.009 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:24.029Z,1628865144.029 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:24.460Z,1628865144.460 [Micromodem](INFO): Nmea in: $SNTTA,0.031677,,,,143224.73*42 2021-08-13T14:32:24.558Z,1628865144.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 253.482937 deg, deltaT: 4.040702 s, approachRate: 0.059397 m/s, LOS rate: 0.346623 deg/s, posRepo size: 4 2021-08-13T14:32:26.853Z,1628865146.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:27.249Z,1628865147.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:27.249Z,1628865147.249 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:27.249Z,1628865147.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:27.250Z,1628865147.250 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:27.650Z,1628865147.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 138,000,003AE,185,80,80,5C,FF 2021-08-13T14:32:27.650Z,1628865147.650 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:27.650Z,1628865147.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:27.652Z,1628865147.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:28.052Z,1628865148.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:28.468Z,1628865148.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,003BE,186,80,80,76,FF 2021-08-13T14:32:28.470Z,1628865148.470 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:28.481Z,1628865148.481 [Micromodem](INFO): Nmea in: $SNTTA,0.166333,0.166327,,,143229.17*52 2021-08-13T14:32:28.586Z,1628865148.586 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:28.905Z,1628865148.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 253.074929 deg, deltaT: 4.556841 s, approachRate: 0.210672 m/s, LOS rate: -0.089538 deg/s, posRepo size: 4 2021-08-13T14:32:31.302Z,1628865151.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:31.685Z,1628865151.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:31.685Z,1628865151.685 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:31.685Z,1628865151.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:31.686Z,1628865151.686 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:32.116Z,1628865152.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 130,000,003BE,186,80,80,76,FF 2021-08-13T14:32:32.116Z,1628865152.116 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:32.117Z,1628865152.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:32.127Z,1628865152.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:32.545Z,1628865152.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:32.942Z,1628865152.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,003BD,185,80,80,94,FF 2021-08-13T14:32:32.942Z,1628865152.942 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:32.961Z,1628865152.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:33.377Z,1628865153.377 [Micromodem](INFO): Nmea in: $SNTTA,0.026338,,,,143233.66*48 2021-08-13T14:32:33.399Z,1628865153.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 253.087305 deg, deltaT: 4.375070 s, approachRate: -0.013715 m/s, LOS rate: 0.002829 deg/s, posRepo size: 4 2021-08-13T14:32:35.825Z,1628865155.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:36.197Z,1628865156.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:36.197Z,1628865156.197 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:36.197Z,1628865156.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:36.198Z,1628865156.198 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:36.573Z,1628865156.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 135,000,003BD,185,80,80,94,FF 2021-08-13T14:32:36.573Z,1628865156.573 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:36.573Z,1628865156.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:36.575Z,1628865156.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:36.984Z,1628865156.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:37.391Z,1628865157.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,003CB,186,80,80,59,FF 2021-08-13T14:32:37.394Z,1628865157.394 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:37.421Z,1628865157.421 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:37.821Z,1628865157.821 [Micromodem](INFO): Nmea in: $SNTTA,0.043536,,,,143238.10*49 2021-08-13T14:32:37.879Z,1628865157.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 253.656178 deg, deltaT: 4.460043 s, approachRate: 0.188339 m/s, LOS rate: 0.127549 deg/s, posRepo size: 4 2021-08-13T14:32:40.248Z,1628865160.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:40.621Z,1628865160.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:40.621Z,1628865160.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:40.621Z,1628865160.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:40.622Z,1628865160.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:41.009Z,1628865161.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 128,000,003CB,186,80,80,59,FF 2021-08-13T14:32:41.009Z,1628865161.009 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:41.009Z,1628865161.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:41.011Z,1628865161.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:41.432Z,1628865161.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:41.817Z,1628865161.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,003CA,185,80,80,6E,FF 2021-08-13T14:32:41.817Z,1628865161.817 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:41.889Z,1628865161.889 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:42.254Z,1628865162.254 [Micromodem](INFO): Nmea in: $SNTTA,0.027462,0.486766,,,143242.54*55 2021-08-13T14:32:42.290Z,1628865162.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 250.689034 deg, deltaT: 4.467654 s, approachRate: -0.013429 m/s, LOS rate: -0.664139 deg/s, posRepo size: 4 2021-08-13T14:32:44.686Z,1628865164.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:45.049Z,1628865165.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:45.049Z,1628865165.049 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:45.049Z,1628865165.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:45.050Z,1628865165.050 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:45.468Z,1628865165.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 170,000,003CA,185,80,80,6E,FF 2021-08-13T14:32:45.469Z,1628865165.469 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:45.470Z,1628865165.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:45.474Z,1628865165.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:45.875Z,1628865165.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:46.273Z,1628865166.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,003D3,186,80,80,A3,FF 2021-08-13T14:32:46.273Z,1628865166.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:46.358Z,1628865166.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:46.698Z,1628865166.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143247.00*59 2021-08-13T14:32:46.724Z,1628865166.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 249.792176 deg, deltaT: 4.469133 s, approachRate: 0.120828 m/s, LOS rate: -0.200678 deg/s, posRepo size: 4 2021-08-13T14:32:49.114Z,1628865169.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:49.522Z,1628865169.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:49.522Z,1628865169.522 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:49.522Z,1628865169.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:49.523Z,1628865169.523 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:49.898Z,1628865169.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18A,000,003D3,186,80,80,A3,FF 2021-08-13T14:32:49.898Z,1628865169.898 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:49.898Z,1628865169.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:49.905Z,1628865169.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:50.313Z,1628865170.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:50.714Z,1628865170.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,003D6,186,80,80,83,FF 2021-08-13T14:32:50.714Z,1628865170.714 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:50.767Z,1628865170.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:51.141Z,1628865171.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143251.43*59 2021-08-13T14:32:51.175Z,1628865171.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 249.650681 deg, deltaT: 4.413701 s, approachRate: 0.040783 m/s, LOS rate: -0.032058 deg/s, posRepo size: 4 2021-08-13T14:32:53.584Z,1628865173.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:53.945Z,1628865173.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:53.945Z,1628865173.945 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:53.945Z,1628865173.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:53.946Z,1628865173.946 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:54.349Z,1628865174.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 197,000,003D6,186,80,80,83,FF 2021-08-13T14:32:54.349Z,1628865174.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:54.349Z,1628865174.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:54.351Z,1628865174.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:54.753Z,1628865174.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:55.162Z,1628865175.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,003E1,186,80,80,92,FF 2021-08-13T14:32:55.162Z,1628865175.162 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:55.186Z,1628865175.186 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:32:55.590Z,1628865175.590 [Micromodem](INFO): Nmea in: $SNTTA,0.037105,,,,143255.87*4B 2021-08-13T14:32:55.616Z,1628865175.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 248.907174 deg, deltaT: 4.414224 s, approachRate: 0.149516 m/s, LOS rate: -0.168434 deg/s, posRepo size: 4 2021-08-13T14:32:58.010Z,1628865178.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:32:58.404Z,1628865178.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:32:58.404Z,1628865178.404 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:32:58.404Z,1628865178.404 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:32:58.405Z,1628865178.405 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:32:58.785Z,1628865178.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1B3,000,003E1,186,80,80,92,FF 2021-08-13T14:32:58.785Z,1628865178.785 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:32:58.785Z,1628865178.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:32:58.787Z,1628865178.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:32:59.201Z,1628865179.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:32:59.597Z,1628865179.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C2,000,003EB,186,80,80,76,FF 2021-08-13T14:32:59.598Z,1628865179.598 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:32:59.662Z,1628865179.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:00.037Z,1628865180.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143300.31*59 2021-08-13T14:33:00.064Z,1628865180.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 248.063974 deg, deltaT: 4.475925 s, approachRate: 0.134050 m/s, LOS rate: -0.188386 deg/s, posRepo size: 4 2021-08-13T14:33:02.543Z,1628865182.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:02.833Z,1628865182.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:02.833Z,1628865182.833 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:02.833Z,1628865182.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:02.834Z,1628865182.834 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:03.241Z,1628865183.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1C2,000,003EB,186,80,80,76,FF 2021-08-13T14:33:03.242Z,1628865183.242 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:03.242Z,1628865183.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:03.245Z,1628865183.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:03.640Z,1628865183.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:04.054Z,1628865184.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,003EE,186,80,80,93,FF 2021-08-13T14:33:04.055Z,1628865184.055 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:04.147Z,1628865184.147 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:04.497Z,1628865184.497 [Micromodem](INFO): Nmea in: $SNTTA,0.038898,,,,143304.77*43 2021-08-13T14:33:04.552Z,1628865184.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 246.238975 deg, deltaT: 4.485761 s, approachRate: 0.040128 m/s, LOS rate: -0.406843 deg/s, posRepo size: 4 2021-08-13T14:33:06.906Z,1628865186.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:07.270Z,1628865187.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:07.270Z,1628865187.270 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:07.270Z,1628865187.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:07.271Z,1628865187.271 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:07.673Z,1628865187.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1D9,000,003EE,186,80,80,93,FF 2021-08-13T14:33:07.673Z,1628865187.673 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:07.673Z,1628865187.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:07.675Z,1628865187.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:08.114Z,1628865188.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:08.521Z,1628865188.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,003F9,186,80,80,87,FF 2021-08-13T14:33:08.521Z,1628865188.521 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:08.587Z,1628865188.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:08.930Z,1628865188.930 [Micromodem](INFO): Nmea in: $SNTTA,0.047025,,,,143309.20*4A 2021-08-13T14:33:08.968Z,1628865188.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 246.810142 deg, deltaT: 4.439334 s, approachRate: 0.148670 m/s, LOS rate: 0.128661 deg/s, posRepo size: 4 2021-08-13T14:33:11.338Z,1628865191.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:11.728Z,1628865191.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:11.728Z,1628865191.728 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:11.728Z,1628865191.728 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:11.729Z,1628865191.729 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:12.161Z,1628865192.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1BD,000,003F9,186,80,80,87,FF 2021-08-13T14:33:12.161Z,1628865192.161 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:12.162Z,1628865192.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:12.165Z,1628865192.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:12.537Z,1628865192.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:12.950Z,1628865192.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00403,186,80,80,89,FF 2021-08-13T14:33:12.951Z,1628865192.951 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:12.981Z,1628865192.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:13.347Z,1628865193.347 [Micromodem](INFO): Nmea in: $SNTTA,0.044195,,,,143313.69*45 2021-08-13T14:33:13.391Z,1628865193.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 245.944730 deg, deltaT: 4.394460 s, approachRate: 0.136537 m/s, LOS rate: -0.196933 deg/s, posRepo size: 4 2021-08-13T14:33:15.801Z,1628865195.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:16.190Z,1628865196.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:16.190Z,1628865196.190 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:16.190Z,1628865196.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:16.191Z,1628865196.191 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:16.561Z,1628865196.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1C3,000,00403,186,80,80,89,FF 2021-08-13T14:33:16.561Z,1628865196.561 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:16.562Z,1628865196.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:16.563Z,1628865196.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:16.974Z,1628865196.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:17.365Z,1628865197.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AA,000,0040C,186,80,80,A5,FF 2021-08-13T14:33:17.366Z,1628865197.366 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:17.481Z,1628865197.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:17.830Z,1628865197.830 [Micromodem](INFO): Nmea in: $SNTTA,0.081734,,,,143318.09*4C 2021-08-13T14:33:17.912Z,1628865197.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 246.388610 deg, deltaT: 4.500176 s, approachRate: 0.119994 m/s, LOS rate: 0.098636 deg/s, posRepo size: 4 2021-08-13T14:33:20.240Z,1628865200.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:20.601Z,1628865200.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:20.601Z,1628865200.601 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:20.601Z,1628865200.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:20.602Z,1628865200.602 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:21.005Z,1628865201.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 1AA,000,0040C,186,80,80,A5,FF 2021-08-13T14:33:21.005Z,1628865201.005 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:21.005Z,1628865201.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:21.007Z,1628865201.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:21.417Z,1628865201.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:21.829Z,1628865201.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00415,186,80,80,8A,FF 2021-08-13T14:33:21.829Z,1628865201.829 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:21.859Z,1628865201.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:22.257Z,1628865202.257 [Micromodem](INFO): Nmea in: $SNTTA,0.044237,,,,143322.53*45 2021-08-13T14:33:22.308Z,1628865202.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 246.978903 deg, deltaT: 4.377392 s, approachRate: 0.123361 m/s, LOS rate: 0.134850 deg/s, posRepo size: 4 2021-08-13T14:33:24.677Z,1628865204.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:25.045Z,1628865205.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:25.045Z,1628865205.045 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:25.045Z,1628865205.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:25.046Z,1628865205.046 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:25.456Z,1628865205.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 18D,000,00415,186,80,80,8A,FF 2021-08-13T14:33:25.457Z,1628865205.457 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:25.458Z,1628865205.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:25.463Z,1628865205.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:25.865Z,1628865205.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:26.301Z,1628865206.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,0041C,185,80,80,AD,FF 2021-08-13T14:33:26.302Z,1628865206.302 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:26.315Z,1628865206.315 [Micromodem](INFO): Nmea in: $SNTTA,0.039456,0.259694,,,143326.99*57 2021-08-13T14:33:26.400Z,1628865206.400 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:26.703Z,1628865206.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 247.469693 deg, deltaT: 4.541145 s, approachRate: 0.092488 m/s, LOS rate: 0.108076 deg/s, posRepo size: 4 2021-08-13T14:33:29.117Z,1628865209.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:29.521Z,1628865209.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:29.521Z,1628865209.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:29.521Z,1628865209.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:29.522Z,1628865209.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:29.894Z,1628865209.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 171,000,0041C,185,80,80,AD,FF 2021-08-13T14:33:29.895Z,1628865209.895 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:29.895Z,1628865209.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:29.898Z,1628865209.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:30.311Z,1628865210.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:30.710Z,1628865210.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00423,186,80,80,A3,FF 2021-08-13T14:33:30.710Z,1628865210.710 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:30.759Z,1628865210.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:31.146Z,1628865211.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143331.42*5F 2021-08-13T14:33:31.167Z,1628865211.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 247.002617 deg, deltaT: 4.359683 s, approachRate: 0.096337 m/s, LOS rate: -0.107135 deg/s, posRepo size: 4 2021-08-13T14:33:33.561Z,1628865213.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:33.946Z,1628865213.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:33.946Z,1628865213.946 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:33.946Z,1628865213.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:33.947Z,1628865213.947 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:34.349Z,1628865214.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 171,000,00423,186,80,80,A3,FF 2021-08-13T14:33:34.349Z,1628865214.349 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:34.349Z,1628865214.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:34.351Z,1628865214.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:34.785Z,1628865214.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:35.174Z,1628865215.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,0042B,186,80,80,89,FF 2021-08-13T14:33:35.174Z,1628865215.174 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:35.193Z,1628865215.193 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:35.605Z,1628865215.605 [Micromodem](INFO): Nmea in: $SNTTA,0.034655,,,,143335.88*42 2021-08-13T14:33:35.665Z,1628865215.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 247.698231 deg, deltaT: 4.433070 s, approachRate: 0.108277 m/s, LOS rate: 0.156915 deg/s, posRepo size: 4 2021-08-13T14:33:38.038Z,1628865218.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:38.405Z,1628865218.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:38.406Z,1628865218.406 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:38.406Z,1628865218.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:38.407Z,1628865218.407 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:38.822Z,1628865218.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 156,000,0042B,186,80,80,89,FF 2021-08-13T14:33:38.822Z,1628865218.822 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:38.822Z,1628865218.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:38.824Z,1628865218.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:39.213Z,1628865219.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:39.613Z,1628865219.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,00435,185,80,80,7E,FF 2021-08-13T14:33:39.614Z,1628865219.614 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:39.643Z,1628865219.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:40.051Z,1628865220.051 [Micromodem](INFO): Nmea in: $SNTTA,0.091070,,,,143340.35*48 2021-08-13T14:33:40.148Z,1628865220.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 248.031353 deg, deltaT: 4.450247 s, approachRate: 0.134824 m/s, LOS rate: 0.074855 deg/s, posRepo size: 4 2021-08-13T14:33:42.525Z,1628865222.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:42.861Z,1628865222.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:42.861Z,1628865222.861 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:42.861Z,1628865222.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:42.862Z,1628865222.862 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:43.253Z,1628865223.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 143,000,00435,185,80,80,7E,FF 2021-08-13T14:33:43.253Z,1628865223.253 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:43.253Z,1628865223.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:43.255Z,1628865223.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:43.657Z,1628865223.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:44.059Z,1628865224.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,0043B,186,80,80,A7,FF 2021-08-13T14:33:44.060Z,1628865224.060 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:44.149Z,1628865224.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:44.497Z,1628865224.497 [Micromodem](INFO): Nmea in: $SNTTA,0.364640,0.323264,,,143344.78*55 2021-08-13T14:33:44.553Z,1628865224.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 247.894257 deg, deltaT: 4.505845 s, approachRate: 0.079897 m/s, LOS rate: -0.030426 deg/s, posRepo size: 4 2021-08-13T14:33:46.919Z,1628865226.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:47.293Z,1628865227.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:47.293Z,1628865227.293 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:47.294Z,1628865227.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:47.294Z,1628865227.294 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:47.693Z,1628865227.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 136,000,0043B,186,80,80,A7,FF 2021-08-13T14:33:47.693Z,1628865227.693 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:47.693Z,1628865227.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:47.695Z,1628865227.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:47.752Z,1628865227.752 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T14:33:48.138Z,1628865228.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:48.513Z,1628865228.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00442,185,80,80,A8,FF 2021-08-13T14:33:48.514Z,1628865228.514 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:48.567Z,1628865228.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:48.957Z,1628865228.957 [Micromodem](INFO): Nmea in: $SNTTA,0.032113,,,,143349.22*4A 2021-08-13T14:33:48.980Z,1628865228.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.900000 m, bearing: 247.722929 deg, deltaT: 4.418129 s, approachRate: 0.095063 m/s, LOS rate: -0.038779 deg/s, posRepo size: 4 2021-08-13T14:33:51.355Z,1628865231.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:51.733Z,1628865231.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:51.733Z,1628865231.733 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:51.733Z,1628865231.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:51.734Z,1628865231.734 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:52.177Z,1628865232.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 128,000,00442,185,80,80,A8,FF 2021-08-13T14:33:52.177Z,1628865232.177 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:52.177Z,1628865232.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:52.179Z,1628865232.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:52.609Z,1628865232.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:52.997Z,1628865232.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,0044C,186,80,80,9E,FF 2021-08-13T14:33:52.997Z,1628865232.997 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:53.075Z,1628865233.075 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:53.439Z,1628865233.439 [Micromodem](INFO): Nmea in: $SNTTA,0.059255,,,,143353.70*4A 2021-08-13T14:33:53.507Z,1628865233.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 248.301282 deg, deltaT: 4.512515 s, approachRate: 0.132964 m/s, LOS rate: 0.128166 deg/s, posRepo size: 4 2021-08-13T14:33:55.857Z,1628865235.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:33:56.225Z,1628865236.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:33:56.225Z,1628865236.225 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:33:56.225Z,1628865236.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:33:56.226Z,1628865236.226 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:33:56.641Z,1628865236.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 109,000,0044C,186,80,80,9E,FF 2021-08-13T14:33:56.641Z,1628865236.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:33:56.641Z,1628865236.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:33:56.643Z,1628865236.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:33:57.045Z,1628865237.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:33:57.480Z,1628865237.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,103,000,00456,186,80,80,51,FF 2021-08-13T14:33:57.481Z,1628865237.481 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:33:57.523Z,1628865237.523 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:33:57.890Z,1628865237.890 [Micromodem](INFO): Nmea in: $SNTTA,0.033308,,,,143358.17*45 2021-08-13T14:33:57.938Z,1628865237.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 247.671047 deg, deltaT: 4.443471 s, approachRate: 0.135029 m/s, LOS rate: -0.141834 deg/s, posRepo size: 4 2021-08-13T14:34:00.314Z,1628865240.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:00.673Z,1628865240.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:00.673Z,1628865240.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:00.673Z,1628865240.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:00.674Z,1628865240.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:01.077Z,1628865241.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 103,000,00456,186,80,80,51,FF 2021-08-13T14:34:01.077Z,1628865241.077 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:01.077Z,1628865241.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:01.079Z,1628865241.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:01.521Z,1628865241.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:01.886Z,1628865241.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,0045E,186,80,80,9A,FF 2021-08-13T14:34:01.886Z,1628865241.886 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:01.956Z,1628865241.956 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:02.325Z,1628865242.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143402.60*58 2021-08-13T14:34:02.392Z,1628865242.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 248.470452 deg, deltaT: 4.432826 s, approachRate: 0.108284 m/s, LOS rate: 0.180338 deg/s, posRepo size: 4 2021-08-13T14:34:02.718Z,1628865242.718 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:34:04.751Z,1628865244.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:05.117Z,1628865245.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:05.117Z,1628865245.117 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:05.117Z,1628865245.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:05.118Z,1628865245.118 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:05.527Z,1628865245.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0CF,000,0045E,186,80,80,9A,FF 2021-08-13T14:34:05.527Z,1628865245.527 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:05.527Z,1628865245.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:05.529Z,1628865245.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:05.936Z,1628865245.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:06.382Z,1628865246.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00466,186,80,80,8B,FF 2021-08-13T14:34:06.382Z,1628865246.382 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:06.494Z,1628865246.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:06.769Z,1628865246.769 [Micromodem](INFO): Nmea in: $SNTTA,0.037373,,,,143407.05*43 2021-08-13T14:34:06.831Z,1628865246.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 249.446951 deg, deltaT: 4.538157 s, approachRate: 0.105769 m/s, LOS rate: 0.215175 deg/s, posRepo size: 4 2021-08-13T14:34:07.567Z,1628865247.567 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:34:09.174Z,1628865249.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:09.566Z,1628865249.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:09.566Z,1628865249.566 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:09.566Z,1628865249.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:09.567Z,1628865249.567 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:09.965Z,1628865249.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 098,000,00466,186,80,80,8B,FF 2021-08-13T14:34:09.965Z,1628865249.965 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:09.966Z,1628865249.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:09.967Z,1628865249.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:10.377Z,1628865250.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:10.769Z,1628865250.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,0046E,186,80,80,9F,FF 2021-08-13T14:34:10.770Z,1628865250.770 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:10.837Z,1628865250.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:11.219Z,1628865251.219 [Micromodem](INFO): Nmea in: $SNTTA,0.036977,,,,143411.49*43 2021-08-13T14:34:11.234Z,1628865251.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 249.628278 deg, deltaT: 4.343053 s, approachRate: 0.110521 m/s, LOS rate: 0.041751 deg/s, posRepo size: 4 2021-08-13T14:34:13.644Z,1628865253.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:14.010Z,1628865254.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:14.010Z,1628865254.010 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:14.010Z,1628865254.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:14.011Z,1628865254.011 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:14.409Z,1628865254.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 06A,000,0046E,186,80,80,9F,FF 2021-08-13T14:34:14.410Z,1628865254.410 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:14.410Z,1628865254.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:14.411Z,1628865254.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:14.831Z,1628865254.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:15.217Z,1628865255.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00475,184,80,80,A2,FF 2021-08-13T14:34:15.217Z,1628865255.217 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:15.236Z,1628865255.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:15.666Z,1628865255.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143415.94*55 2021-08-13T14:34:15.693Z,1628865255.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 249.352967 deg, deltaT: 4.399164 s, approachRate: 0.095473 m/s, LOS rate: -0.062583 deg/s, posRepo size: 4 2021-08-13T14:34:18.147Z,1628865258.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:18.468Z,1628865258.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:18.468Z,1628865258.468 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:18.469Z,1628865258.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:18.471Z,1628865258.471 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:18.853Z,1628865258.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 044,000,00475,184,80,80,A2,FF 2021-08-13T14:34:18.853Z,1628865258.853 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:18.853Z,1628865258.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:18.855Z,1628865258.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:19.261Z,1628865259.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:19.661Z,1628865259.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,0047C,185,80,80,7A,FF 2021-08-13T14:34:19.661Z,1628865259.661 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:19.764Z,1628865259.764 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:20.137Z,1628865260.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143420.38*55 2021-08-13T14:34:20.186Z,1628865260.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 248.983918 deg, deltaT: 4.528032 s, approachRate: 0.092756 m/s, LOS rate: -0.081503 deg/s, posRepo size: 4 2021-08-13T14:34:22.567Z,1628865262.567 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items 2021-08-13T14:34:22.583Z,1628865262.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:22.902Z,1628865262.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:22.902Z,1628865262.902 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:22.902Z,1628865262.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:22.903Z,1628865262.903 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:23.303Z,1628865263.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,0047C,185,80,80,7A,FF 2021-08-13T14:34:23.303Z,1628865263.303 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:23.303Z,1628865263.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:23.305Z,1628865263.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:23.705Z,1628865263.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:24.123Z,1628865264.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00485,182,80,80,8E,FF 2021-08-13T14:34:24.130Z,1628865264.130 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:24.233Z,1628865264.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:24.529Z,1628865264.529 [Micromodem](INFO): Nmea in: $SNTTA,0.123862,0.338032,,,143424.83*54 2021-08-13T14:34:24.583Z,1628865264.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 249.806273 deg, deltaT: 4.468416 s, approachRate: 0.120848 m/s, LOS rate: 0.184037 deg/s, posRepo size: 4 2021-08-13T14:34:26.982Z,1628865266.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:27.345Z,1628865267.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:27.345Z,1628865267.345 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:27.345Z,1628865267.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:27.346Z,1628865267.346 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:27.760Z,1628865267.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFC,000,00485,182,80,80,8E,FF 2021-08-13T14:34:27.760Z,1628865267.760 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:27.761Z,1628865267.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:27.762Z,1628865267.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:28.181Z,1628865268.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:28.561Z,1628865268.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0048C,183,80,80,6C,FF 2021-08-13T14:34:28.562Z,1628865268.562 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:28.591Z,1628865268.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:28.978Z,1628865268.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143429.29*5C 2021-08-13T14:34:28.999Z,1628865268.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 248.472938 deg, deltaT: 4.358243 s, approachRate: 0.096369 m/s, LOS rate: -0.305934 deg/s, posRepo size: 4 2021-08-13T14:34:31.399Z,1628865271.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:31.789Z,1628865271.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:31.789Z,1628865271.789 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:31.789Z,1628865271.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:31.790Z,1628865271.790 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:32.185Z,1628865272.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FFE,000,0048C,183,80,80,6C,FF 2021-08-13T14:34:32.185Z,1628865272.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:32.185Z,1628865272.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:32.187Z,1628865272.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:32.604Z,1628865272.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:33.001Z,1628865273.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00495,183,80,80,8D,FF 2021-08-13T14:34:33.002Z,1628865273.002 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:33.071Z,1628865273.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:33.429Z,1628865273.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143433.71*5A 2021-08-13T14:34:33.503Z,1628865273.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 248.585937 deg, deltaT: 4.479926 s, approachRate: 0.120538 m/s, LOS rate: 0.025223 deg/s, posRepo size: 4 2021-08-13T14:34:35.879Z,1628865275.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:36.229Z,1628865276.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:36.229Z,1628865276.229 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:36.229Z,1628865276.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:36.230Z,1628865276.230 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:36.637Z,1628865276.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE9,000,00495,183,80,80,8D,FF 2021-08-13T14:34:36.637Z,1628865276.637 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:36.637Z,1628865276.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:36.641Z,1628865276.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:37.036Z,1628865277.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:37.447Z,1628865277.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00499,184,80,80,4C,FF 2021-08-13T14:34:37.449Z,1628865277.449 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:37.557Z,1628865277.557 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:37.882Z,1628865277.882 [Micromodem](INFO): Nmea in: $SNTTA,0.059243,,,,143438.16*47 2021-08-13T14:34:37.917Z,1628865277.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 247.921961 deg, deltaT: 4.486407 s, approachRate: 0.053494 m/s, LOS rate: -0.147997 deg/s, posRepo size: 4 2021-08-13T14:34:40.320Z,1628865280.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:40.678Z,1628865280.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:40.678Z,1628865280.678 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:40.678Z,1628865280.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:40.679Z,1628865280.679 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:41.073Z,1628865281.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD8,000,00499,184,80,80,4C,FF 2021-08-13T14:34:41.073Z,1628865281.073 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:41.073Z,1628865281.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:41.075Z,1628865281.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:41.524Z,1628865281.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:41.882Z,1628865281.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,004A5,184,80,80,89,FF 2021-08-13T14:34:41.883Z,1628865281.883 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:41.909Z,1628865281.909 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:42.326Z,1628865282.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143442.60*5C 2021-08-13T14:34:42.382Z,1628865282.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 248.528427 deg, deltaT: 4.351398 s, approachRate: 0.165463 m/s, LOS rate: 0.139373 deg/s, posRepo size: 4 2021-08-13T14:34:44.788Z,1628865284.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:45.121Z,1628865285.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:45.121Z,1628865285.121 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:45.121Z,1628865285.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:45.122Z,1628865285.122 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:45.517Z,1628865285.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBE,000,004A5,184,80,80,89,FF 2021-08-13T14:34:45.518Z,1628865285.518 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:45.518Z,1628865285.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:45.519Z,1628865285.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:45.929Z,1628865285.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:46.329Z,1628865286.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,004AC,185,80,80,5B,FF 2021-08-13T14:34:46.329Z,1628865286.329 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:46.339Z,1628865286.339 [Micromodem](INFO): Nmea in: $SNTTA,0.232084,0.232140,,,143447.04*52 2021-08-13T14:34:46.452Z,1628865286.452 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:46.781Z,1628865286.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 248.230794 deg, deltaT: 4.544562 s, approachRate: 0.092419 m/s, LOS rate: -0.065492 deg/s, posRepo size: 4 2021-08-13T14:34:49.182Z,1628865289.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:49.567Z,1628865289.567 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:49.567Z,1628865289.567 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:49.567Z,1628865289.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:49.569Z,1628865289.569 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:49.974Z,1628865289.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FAC,000,004AC,185,80,80,5B,FF 2021-08-13T14:34:49.974Z,1628865289.974 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:49.975Z,1628865289.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:49.976Z,1628865289.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:50.370Z,1628865290.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:50.773Z,1628865290.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,004B8,186,80,80,8B,FF 2021-08-13T14:34:50.773Z,1628865290.773 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:50.823Z,1628865290.823 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:51.201Z,1628865291.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143451.50*5D 2021-08-13T14:34:51.246Z,1628865291.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 248.401057 deg, deltaT: 4.369584 s, approachRate: 0.164776 m/s, LOS rate: 0.038965 deg/s, posRepo size: 4 2021-08-13T14:34:53.635Z,1628865293.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:54.005Z,1628865294.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:54.005Z,1628865294.005 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:54.005Z,1628865294.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:54.006Z,1628865294.006 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:54.409Z,1628865294.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F97,000,004B8,186,80,80,8B,FF 2021-08-13T14:34:54.409Z,1628865294.409 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:54.409Z,1628865294.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:54.411Z,1628865294.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:54.826Z,1628865294.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:34:55.213Z,1628865295.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,004C0,187,80,80,66,FF 2021-08-13T14:34:55.213Z,1628865295.213 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:34:55.253Z,1628865295.253 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:34:55.658Z,1628865295.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143455.93*56 2021-08-13T14:34:55.687Z,1628865295.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 248.207599 deg, deltaT: 4.430607 s, approachRate: 0.108338 m/s, LOS rate: -0.043664 deg/s, posRepo size: 4 2021-08-13T14:34:58.070Z,1628865298.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:34:58.448Z,1628865298.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:34:58.448Z,1628865298.448 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:34:58.449Z,1628865298.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:34:58.450Z,1628865298.450 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:34:58.849Z,1628865298.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F7D,000,004C0,187,80,80,66,FF 2021-08-13T14:34:58.849Z,1628865298.849 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:34:58.849Z,1628865298.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:34:58.851Z,1628865298.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:34:59.257Z,1628865299.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:00.113Z,1628865300.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143500.37*59 2021-08-13T14:35:00.915Z,1628865300.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:02.519Z,1628865302.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4 0,187,80,80,66,FF 2021-08-13T14:35:02.519Z,1628865302.519 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4 0,187,80,80,66,FF 2021-08-13T14:35:02.519Z,1628865302.519 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-08-13T14:35:03.731Z,1628865303.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:04.106Z,1628865304.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:04.107Z,1628865304.107 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:04.109Z,1628865304.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:04.110Z,1628865304.110 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:04.513Z,1628865304.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 80,80,63,E4 0,187,80,80,66,FF 2021-08-13T14:35:04.513Z,1628865304.513 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:04.514Z,1628865304.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:04.515Z,1628865304.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:04.921Z,1628865304.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:05.317Z,1628865305.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,004D5,187,80,80,4A,FF 2021-08-13T14:35:05.318Z,1628865305.318 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:05.337Z,1628865305.337 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:05.749Z,1628865305.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143506.04*5F 2021-08-13T14:35:05.786Z,1628865305.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 252.297434 deg, deltaT: 10.083662 s, approachRate: 0.124954 m/s, LOS rate: 0.405590 deg/s, posRepo size: 4 2021-08-13T14:35:08.234Z,1628865308.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:08.545Z,1628865308.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:08.545Z,1628865308.545 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:08.545Z,1628865308.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:08.546Z,1628865308.546 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:08.958Z,1628865308.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EEB,000,004D5,187,80,80,4A,FF 2021-08-13T14:35:08.958Z,1628865308.958 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:08.958Z,1628865308.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:08.959Z,1628865308.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:09.357Z,1628865309.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:09.757Z,1628865309.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,004DE,186,80,80,60,FF 2021-08-13T14:35:09.757Z,1628865309.757 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:09.786Z,1628865309.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:10.218Z,1628865310.218 [Micromodem](INFO): Nmea in: $SNTTA,0.049023,,,,143510.48*42 2021-08-13T14:35:10.254Z,1628865310.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 250.622399 deg, deltaT: 4.449287 s, approachRate: 0.121368 m/s, LOS rate: -0.376473 deg/s, posRepo size: 4 2021-08-13T14:35:12.632Z,1628865312.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:12.985Z,1628865312.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:12.985Z,1628865312.985 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:12.985Z,1628865312.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:12.986Z,1628865312.986 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:13.397Z,1628865313.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFB,000,004DE,186,80,80,60,FF 2021-08-13T14:35:13.398Z,1628865313.398 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:13.398Z,1628865313.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:13.399Z,1628865313.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:13.801Z,1628865313.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:14.205Z,1628865314.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,004E6,186,80,80,AA,FF 2021-08-13T14:35:14.205Z,1628865314.205 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:14.281Z,1628865314.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:14.637Z,1628865314.637 [Micromodem](INFO): Nmea in: $SNTTA,0.070248,,,,143514.92*44 2021-08-13T14:35:14.674Z,1628865314.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 249.531235 deg, deltaT: 4.494374 s, approachRate: 0.106800 m/s, LOS rate: -0.242784 deg/s, posRepo size: 4 2021-08-13T14:35:17.169Z,1628865317.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:17.585Z,1628865317.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:17.585Z,1628865317.585 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:17.586Z,1628865317.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:17.587Z,1628865317.587 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:17.963Z,1628865317.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F07,000,004E6,186,80,80,AA,FF 2021-08-13T14:35:17.963Z,1628865317.963 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:17.963Z,1628865317.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:17.965Z,1628865317.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:18.366Z,1628865318.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:18.791Z,1628865318.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,004EC,187,80,80,80,FF 2021-08-13T14:35:18.791Z,1628865318.791 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:18.953Z,1628865318.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:19.213Z,1628865319.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143519.49*58 2021-08-13T14:35:19.235Z,1628865319.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 248.964220 deg, deltaT: 4.672291 s, approachRate: 0.077050 m/s, LOS rate: -0.121357 deg/s, posRepo size: 4 2021-08-13T14:35:21.626Z,1628865321.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:21.985Z,1628865321.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:21.986Z,1628865321.986 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:21.986Z,1628865321.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:21.987Z,1628865321.987 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:22.396Z,1628865322.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0A,000,004EC,187,80,80,80,FF 2021-08-13T14:35:22.397Z,1628865322.397 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:22.397Z,1628865322.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:22.399Z,1628865322.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:22.858Z,1628865322.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:23.257Z,1628865323.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,004F7,186,80,80,71,FF 2021-08-13T14:35:23.257Z,1628865323.257 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:23.305Z,1628865323.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:23.673Z,1628865323.673 [Micromodem](INFO): Nmea in: $SNTTA,0.039493,,,,143523.92*4D 2021-08-13T14:35:23.719Z,1628865323.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 248.169022 deg, deltaT: 4.352264 s, approachRate: 0.151646 m/s, LOS rate: -0.182709 deg/s, posRepo size: 4 2021-08-13T14:35:26.168Z,1628865326.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:26.517Z,1628865326.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:26.517Z,1628865326.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:26.517Z,1628865326.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:26.518Z,1628865326.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:26.886Z,1628865326.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F0F,000,004F7,186,80,80,71,FF 2021-08-13T14:35:26.886Z,1628865326.886 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:26.886Z,1628865326.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:26.889Z,1628865326.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:27.313Z,1628865327.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:27.697Z,1628865327.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,004FB,186,80,80,AA,FF 2021-08-13T14:35:27.697Z,1628865327.697 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:27.832Z,1628865327.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:28.161Z,1628865328.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143528.41*52 2021-08-13T14:35:28.203Z,1628865328.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 249.946538 deg, deltaT: 4.527007 s, approachRate: 0.053014 m/s, LOS rate: 0.392647 deg/s, posRepo size: 4 2021-08-13T14:35:30.568Z,1628865330.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:30.937Z,1628865330.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:30.937Z,1628865330.937 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:30.937Z,1628865330.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:30.938Z,1628865330.938 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:31.337Z,1628865331.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE4,000,004FB,186,80,80,AA,FF 2021-08-13T14:35:31.337Z,1628865331.337 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:31.337Z,1628865331.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:31.339Z,1628865331.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:31.737Z,1628865331.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:32.191Z,1628865332.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,00506,187,80,80,93,FF 2021-08-13T14:35:32.192Z,1628865332.192 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:32.200Z,1628865332.200 [Micromodem](INFO): Nmea in: $SNTTA,0.320122,0.321334,,,143532.86*56 2021-08-13T14:35:32.295Z,1628865332.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:32.647Z,1628865332.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 250.498827 deg, deltaT: 4.462530 s, approachRate: 0.147899 m/s, LOS rate: 0.123761 deg/s, posRepo size: 4 2021-08-13T14:35:35.034Z,1628865335.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:35.425Z,1628865335.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:35.425Z,1628865335.425 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:35.425Z,1628865335.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:35.426Z,1628865335.426 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:35.836Z,1628865335.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EDE,000,00506,187,80,80,93,FF 2021-08-13T14:35:35.836Z,1628865335.836 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:35.837Z,1628865335.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:35.838Z,1628865335.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:36.232Z,1628865336.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:36.642Z,1628865336.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,0050B,186,80,80,5B,FF 2021-08-13T14:35:36.642Z,1628865336.642 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:36.671Z,1628865336.671 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:37.073Z,1628865337.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143537.36*5C 2021-08-13T14:35:37.099Z,1628865337.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 248.463103 deg, deltaT: 4.376174 s, approachRate: 0.068553 m/s, LOS rate: -0.465184 deg/s, posRepo size: 4 2021-08-13T14:35:39.518Z,1628865339.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:39.865Z,1628865339.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:39.866Z,1628865339.866 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:39.866Z,1628865339.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:39.867Z,1628865339.867 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:40.269Z,1628865340.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EFF,000,0050B,186,80,80,5B,FF 2021-08-13T14:35:40.269Z,1628865340.269 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:40.269Z,1628865340.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:40.271Z,1628865340.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:40.681Z,1628865340.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:41.088Z,1628865341.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00517,186,80,80,6D,FF 2021-08-13T14:35:41.089Z,1628865341.089 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:41.113Z,1628865341.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:35:41.525Z,1628865341.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143541.80*50 2021-08-13T14:35:41.550Z,1628865341.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 248.697597 deg, deltaT: 4.442031 s, approachRate: 0.162088 m/s, LOS rate: 0.052790 deg/s, posRepo size: 4 2021-08-13T14:35:41.933Z,1628865341.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2021-08-13T14:35:41.933Z,1628865341.933 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T14:35:41.934Z,1628865341.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2021-08-13T14:35:41.934Z,1628865341.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings. 2021-08-13T14:35:41.934Z,1628865341.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2021-08-13T14:35:41.934Z,1628865341.934 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2021-08-13T14:35:42.359Z,1628865342.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2021-08-13T14:35:42.359Z,1628865342.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T14:35:42.359Z,1628865342.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2021-08-13T14:35:42.359Z,1628865342.359 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR 2021-08-13T14:35:43.934Z,1628865343.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:44.325Z,1628865344.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:44.325Z,1628865344.325 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:44.325Z,1628865344.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:44.326Z,1628865344.326 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:44.725Z,1628865344.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EF3,000,00517,186,80,80,6D,FF 2021-08-13T14:35:44.725Z,1628865344.725 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:44.725Z,1628865344.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:44.727Z,1628865344.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:45.141Z,1628865345.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:45.538Z,1628865345.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00521,187,80,80,99,FF 2021-08-13T14:35:45.538Z,1628865345.538 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:45.977Z,1628865345.977 [Micromodem](INFO): Nmea in: $SNTTA,0.045840,,,,143546.25*4B 2021-08-13T14:35:45.999Z,1628865345.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 249.454218 deg, deltaT: 4.487370 s, approachRate: 0.133708 m/s, LOS rate: 0.168611 deg/s, posRepo size: 4 2021-08-13T14:35:48.406Z,1628865348.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:48.769Z,1628865348.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:48.769Z,1628865348.769 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:48.769Z,1628865348.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:48.770Z,1628865348.770 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:49.169Z,1628865349.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED9,000,00521,187,80,80,99,FF 2021-08-13T14:35:49.169Z,1628865349.169 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:49.169Z,1628865349.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:49.171Z,1628865349.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:49.581Z,1628865349.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:49.984Z,1628865349.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,0052A,186,80,80,94,FF 2021-08-13T14:35:49.985Z,1628865349.985 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:50.426Z,1628865350.426 [Micromodem](INFO): Nmea in: $SNTTA,,0.406487,,,143550.70*48 2021-08-13T14:35:50.508Z,1628865350.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.820000 m, bearing: 251.079120 deg, deltaT: 4.403124 s, approachRate: 0.122640 m/s, LOS rate: 0.369034 deg/s, posRepo size: 4 2021-08-13T14:35:52.842Z,1628865352.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:53.205Z,1628865353.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:53.205Z,1628865353.205 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:53.205Z,1628865353.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:53.206Z,1628865353.206 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:53.614Z,1628865353.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB0,000,0052A,186,80,80,94,FF 2021-08-13T14:35:53.614Z,1628865353.614 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:53.614Z,1628865353.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:53.615Z,1628865353.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:54.025Z,1628865354.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:54.429Z,1628865354.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00536,186,80,80,A5,FF 2021-08-13T14:35:54.430Z,1628865354.430 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:35:54.513Z,1628865354.513 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:35:54.853Z,1628865354.853 [Micromodem](INFO): Nmea in: $SNTTA,0.028114,,,,143555.14*48 2021-08-13T14:35:54.904Z,1628865354.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 250.639310 deg, deltaT: 4.524057 s, approachRate: 0.159149 m/s, LOS rate: -0.097216 deg/s, posRepo size: 4 2021-08-13T14:35:57.262Z,1628865357.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:35:57.658Z,1628865357.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:35:57.658Z,1628865357.658 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:35:57.658Z,1628865357.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:35:57.659Z,1628865357.659 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:35:58.068Z,1628865358.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA3,000,00536,186,80,80,A5,FF 2021-08-13T14:35:58.068Z,1628865358.068 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:35:58.069Z,1628865358.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:35:58.070Z,1628865358.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:35:58.479Z,1628865358.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:35:59.294Z,1628865359.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143559.59*5D 2021-08-13T14:36:00.152Z,1628865360.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:01.285Z,1628865361.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,07B99,186,80,80,64,FF 2021-08-13T14:36:01.285Z,1628865361.285 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:01.742Z,1628865361.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1860.960083 m, bearing: 252.084469 deg, deltaT: 6.776200 s, approachRate: 268.353943 m/s, LOS rate: 0.213270 deg/s, posRepo size: 4 2021-08-13T14:36:01.742Z,1628865361.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1860.96 m. Resuming terminal guidance. 2021-08-13T14:36:01.742Z,1628865361.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-08-13T14:36:02.174Z,1628865362.174 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-08-13T14:36:04.204Z,1628865364.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:04.555Z,1628865364.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:04.555Z,1628865364.555 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:04.556Z,1628865364.556 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:04.557Z,1628865364.557 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:04.953Z,1628865364.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E73,000,07B99,186,80,80,64,FF 2021-08-13T14:36:04.954Z,1628865364.954 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:04.954Z,1628865364.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:04.955Z,1628865364.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:05.357Z,1628865365.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:05.770Z,1628865365.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,00547,186,80,80,5F,FF 2021-08-13T14:36:05.770Z,1628865365.770 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:06.205Z,1628865366.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143606.48*54 2021-08-13T14:36:06.259Z,1628865366.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 251.880465 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-08-13T14:36:06.276Z,1628865366.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 251.880465deg and heading rate command to 0 deg/s. 2021-08-13T14:36:08.693Z,1628865368.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:09.057Z,1628865369.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:09.057Z,1628865369.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:09.057Z,1628865369.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:09.058Z,1628865369.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:09.476Z,1628865369.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E75,000,00547,186,80,80,5F,FF 2021-08-13T14:36:09.476Z,1628865369.476 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:09.476Z,1628865369.476 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:09.478Z,1628865369.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:09.875Z,1628865369.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:10.262Z,1628865370.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00543,186,80,80,A3,FF 2021-08-13T14:36:10.262Z,1628865370.262 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:10.701Z,1628865370.701 [Micromodem](INFO): Nmea in: $SNTTA,0.057378,,,,143611.00*4E 2021-08-13T14:36:10.739Z,1628865370.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 250.781488 deg, deltaT: 4.510820 s, approachRate: -0.053206 m/s, LOS rate: -0.243631 deg/s, posRepo size: 2 2021-08-13T14:36:10.741Z,1628865370.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.319996 m, bearing: 250.781488 deg, approachRate: -0.053206 m/s, LOS rate: -0.243631 deg/s, cmd update: -0.730894 deg/s, cmd heading: 251.880465 deg, new cmd heading: 251.880465 deg. 2021-08-13T14:36:13.106Z,1628865373.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:13.529Z,1628865373.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:13.529Z,1628865373.529 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:13.530Z,1628865373.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:13.531Z,1628865373.531 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:13.905Z,1628865373.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EC2,000,00543,186,80,80,A3,FF 2021-08-13T14:36:13.905Z,1628865373.905 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:13.905Z,1628865373.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:13.907Z,1628865373.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:14.313Z,1628865374.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:14.709Z,1628865374.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,0052A,186,80,80,86,FF 2021-08-13T14:36:14.710Z,1628865374.710 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:15.153Z,1628865375.153 [Micromodem](INFO): Nmea in: $SNTTA,0.477171,,,,143615.43*40 2021-08-13T14:36:15.190Z,1628865375.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.820000 m, bearing: 250.796350 deg, deltaT: 4.409714 s, approachRate: -0.340157 m/s, LOS rate: 0.003370 deg/s, posRepo size: 3 2021-08-13T14:36:15.192Z,1628865375.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.820000 m, bearing: 250.796350 deg, approachRate: -0.340157 m/s, LOS rate: 0.003370 deg/s, cmd update: 0.010111 deg/s, cmd heading: 248.654630 deg, new cmd heading: 248.323261 deg. 2021-08-13T14:36:17.604Z,1628865377.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:17.949Z,1628865377.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:17.949Z,1628865377.949 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:17.949Z,1628865377.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:17.950Z,1628865377.950 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:18.341Z,1628865378.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6C,000,0052A,186,80,80,86,FF 2021-08-13T14:36:18.341Z,1628865378.341 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:18.341Z,1628865378.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:18.343Z,1628865378.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:18.774Z,1628865378.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:19.169Z,1628865379.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00507,183,80,80,62,FF 2021-08-13T14:36:19.169Z,1628865379.169 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:19.603Z,1628865379.603 [Micromodem](INFO): Nmea in: $SNTTA,0.047983,,,,143619.87*46 2021-08-13T14:36:19.629Z,1628865379.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 249.102791 deg, deltaT: 4.475820 s, approachRate: -0.469188 m/s, LOS rate: -0.378380 deg/s, posRepo size: 4 2021-08-13T14:36:19.629Z,1628865379.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.72 m. 2021-08-13T14:36:19.631Z,1628865379.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.719997 m, bearing: 249.102791 deg, approachRate: -0.469188 m/s, LOS rate: -0.378380 deg/s, cmd update: -1.135139 deg/s, cmd heading: 248.699886 deg, new cmd heading: 248.704091 deg. 2021-08-13T14:36:20.018Z,1628865380.018 [PowerOnly](INFO): Powering up loadControl 2021-08-13T14:36:20.051Z,1628865380.051 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2021-08-13T14:36:20.052Z,1628865380.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:36:20.052Z,1628865380.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2021-08-13T14:36:20.053Z,1628865380.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings. 2021-08-13T14:36:20.053Z,1628865380.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2021-08-13T14:36:20.054Z,1628865380.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2021-08-13T14:36:20.498Z,1628865380.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2021-08-13T14:36:20.499Z,1628865380.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:36:20.499Z,1628865380.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2021-08-13T14:36:20.499Z,1628865380.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2021-08-13T14:36:22.015Z,1628865382.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:22.405Z,1628865382.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:22.405Z,1628865382.405 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:22.406Z,1628865382.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:22.407Z,1628865382.407 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:22.805Z,1628865382.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 018,000,00507,183,80,80,62,FF 2021-08-13T14:36:22.805Z,1628865382.805 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:22.806Z,1628865382.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:22.807Z,1628865382.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:23.209Z,1628865383.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:23.605Z,1628865383.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,004E0,185,80,80,7D,FF 2021-08-13T14:36:23.606Z,1628865383.606 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:23.615Z,1628865383.615 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T14:36:23.652Z,1628865383.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:24.056Z,1628865384.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143624.33*58 2021-08-13T14:36:24.141Z,1628865384.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 247.798116 deg, deltaT: 4.436847 s, approachRate: -0.527401 m/s, LOS rate: -0.294055 deg/s, posRepo size: 4 2021-08-13T14:36:24.141Z,1628865384.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m. 2021-08-13T14:36:24.143Z,1628865384.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.380001 m, bearing: 247.798116 deg, approachRate: -0.527401 m/s, LOS rate: -0.294055 deg/s, cmd update: -0.882164 deg/s, cmd heading: 243.686868 deg, new cmd heading: 243.113474 deg. 2021-08-13T14:36:26.549Z,1628865386.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:26.845Z,1628865386.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:26.845Z,1628865386.845 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:26.845Z,1628865386.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:26.846Z,1628865386.846 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:27.250Z,1628865387.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 020,000,004E0,185,80,80,7D,FF 2021-08-13T14:36:27.251Z,1628865387.251 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:27.251Z,1628865387.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:27.252Z,1628865387.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:27.661Z,1628865387.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:28.061Z,1628865388.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,004BD,184,80,80,8B,FF 2021-08-13T14:36:28.061Z,1628865388.061 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:28.143Z,1628865388.143 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:28.513Z,1628865388.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143628.78*5B 2021-08-13T14:36:28.583Z,1628865388.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 250.542349 deg, deltaT: 4.495391 s, approachRate: -0.467146 m/s, LOS rate: 0.610455 deg/s, posRepo size: 4 2021-08-13T14:36:28.588Z,1628865388.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.28 m. 2021-08-13T14:36:28.590Z,1628865388.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.279999 m, bearing: 250.542349 deg, approachRate: -0.467146 m/s, LOS rate: 0.610455 deg/s, cmd update: 1.831365 deg/s, cmd heading: 239.727707 deg, new cmd heading: 239.316275 deg. 2021-08-13T14:36:30.925Z,1628865390.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:31.293Z,1628865391.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:31.293Z,1628865391.293 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:31.294Z,1628865391.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:31.294Z,1628865391.294 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:31.689Z,1628865391.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB2,000,004BD,184,80,80,8B,FF 2021-08-13T14:36:31.689Z,1628865391.689 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:31.689Z,1628865391.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:31.691Z,1628865391.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:32.136Z,1628865392.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:32.517Z,1628865392.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00496,187,80,80,8B,FF 2021-08-13T14:36:32.517Z,1628865392.517 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:32.625Z,1628865392.625 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:32.937Z,1628865392.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143633.22*5E 2021-08-13T14:36:32.969Z,1628865392.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 250.378343 deg, deltaT: 4.477343 s, approachRate: -0.522631 m/s, LOS rate: -0.036630 deg/s, posRepo size: 4 2021-08-13T14:36:32.970Z,1628865392.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.94 m. 2021-08-13T14:36:32.972Z,1628865392.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.939999 m, bearing: 250.378343 deg, approachRate: -0.522631 m/s, LOS rate: -0.036630 deg/s, cmd update: -0.109891 deg/s, cmd heading: 247.970800 deg, new cmd heading: 248.613792 deg. 2021-08-13T14:36:35.343Z,1628865395.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:35.729Z,1628865395.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:35.729Z,1628865395.729 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:35.729Z,1628865395.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:35.730Z,1628865395.730 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:36.177Z,1628865396.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F81,000,00496,187,80,80,8B,FF 2021-08-13T14:36:36.177Z,1628865396.177 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:36.177Z,1628865396.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:36.179Z,1628865396.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:36.541Z,1628865396.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:36.953Z,1628865396.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0047A,184,80,80,70,FF 2021-08-13T14:36:36.953Z,1628865396.953 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:36.997Z,1628865396.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:37.367Z,1628865397.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143637.71*5C 2021-08-13T14:36:37.403Z,1628865397.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 244.112819 deg, deltaT: 4.372407 s, approachRate: -0.384228 m/s, LOS rate: -1.432969 deg/s, posRepo size: 4 2021-08-13T14:36:37.408Z,1628865397.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.26 m. 2021-08-13T14:36:37.410Z,1628865397.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.259998 m, bearing: 244.112819 deg, approachRate: -0.384228 m/s, LOS rate: -1.432969 deg/s, cmd update: -4.298907 deg/s, cmd heading: 247.490311 deg, new cmd heading: 247.444934 deg. 2021-08-13T14:36:39.798Z,1628865399.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:40.185Z,1628865400.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:40.185Z,1628865400.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:40.185Z,1628865400.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:40.186Z,1628865400.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:40.577Z,1628865400.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 03C,000,0047A,184,80,80,70,FF 2021-08-13T14:36:40.577Z,1628865400.577 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:40.577Z,1628865400.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:40.579Z,1628865400.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:40.993Z,1628865400.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:41.385Z,1628865401.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00449,183,80,80,8C,FF 2021-08-13T14:36:41.385Z,1628865401.385 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:41.406Z,1628865401.406 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:41.831Z,1628865401.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143642.10*59 2021-08-13T14:36:41.875Z,1628865401.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 246.539257 deg, deltaT: 4.408215 s, approachRate: -0.666936 m/s, LOS rate: 0.550436 deg/s, posRepo size: 4 2021-08-13T14:36:41.877Z,1628865401.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.32 m. 2021-08-13T14:36:41.881Z,1628865401.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.320000 m, bearing: 246.539257 deg, approachRate: -0.666936 m/s, LOS rate: 0.550436 deg/s, cmd update: 1.651307 deg/s, cmd heading: 228.522364 deg, new cmd heading: 226.492244 deg. 2021-08-13T14:36:44.274Z,1628865404.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:44.629Z,1628865404.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:44.629Z,1628865404.629 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:44.629Z,1628865404.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:44.630Z,1628865404.630 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:45.040Z,1628865405.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 006,000,00449,183,80,80,8C,FF 2021-08-13T14:36:45.041Z,1628865405.041 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:45.041Z,1628865405.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:45.043Z,1628865405.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:45.432Z,1628865405.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:45.841Z,1628865405.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00422,187,80,80,B5,FF 2021-08-13T14:36:45.842Z,1628865405.842 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:45.877Z,1628865405.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:46.255Z,1628865406.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143646.59*50 2021-08-13T14:36:46.318Z,1628865406.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 250.070055 deg, deltaT: 4.471552 s, approachRate: -0.523309 m/s, LOS rate: 0.789614 deg/s, posRepo size: 4 2021-08-13T14:36:46.319Z,1628865406.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.98 m. 2021-08-13T14:36:46.319Z,1628865406.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 25.98 m. 2021-08-13T14:36:46.319Z,1628865406.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-08-13T14:36:46.321Z,1628865406.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 25.979996 m, bearing: 250.070055 deg, approachRate: -0.523309 m/s, LOS rate: 0.789614 deg/s, cmd update: 2.368841 deg/s, cmd heading: 235.901976 deg, new cmd heading: 236.639361 deg. 2021-08-13T14:36:48.696Z,1628865408.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:49.085Z,1628865409.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:49.085Z,1628865409.085 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:49.086Z,1628865409.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:49.087Z,1628865409.087 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:49.485Z,1628865409.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE1,000,00422,187,80,80,B5,FF 2021-08-13T14:36:49.485Z,1628865409.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:49.485Z,1628865409.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:49.487Z,1628865409.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:49.892Z,1628865409.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:50.273Z,1628865410.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,003FD,186,80,80,87,FF 2021-08-13T14:36:50.273Z,1628865410.273 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:50.368Z,1628865410.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:50.725Z,1628865410.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143651.01*5B 2021-08-13T14:36:50.752Z,1628865410.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 246.670124 deg, deltaT: 4.491205 s, approachRate: -0.494298 m/s, LOS rate: -0.757020 deg/s, posRepo size: 4 2021-08-13T14:36:50.754Z,1628865410.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.760000 m, bearing: 246.670124 deg, approachRate: -0.494298 m/s, LOS rate: -0.757020 deg/s, cmd update: -2.271060 deg/s, cmd heading: 246.547312 deg, new cmd heading: 247.462838 deg. 2021-08-13T14:36:53.152Z,1628865413.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:53.517Z,1628865413.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:53.517Z,1628865413.517 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:53.517Z,1628865413.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:53.518Z,1628865413.518 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:53.927Z,1628865413.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F3F,000,003FD,186,80,80,87,FF 2021-08-13T14:36:53.927Z,1628865413.927 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:53.927Z,1628865413.927 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:53.930Z,1628865413.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:54.325Z,1628865414.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:54.727Z,1628865414.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,003D9,185,80,80,52,FF 2021-08-13T14:36:54.728Z,1628865414.728 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:54.790Z,1628865414.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:55.145Z,1628865415.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143655.45*5F 2021-08-13T14:36:55.167Z,1628865415.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 245.151472 deg, deltaT: 4.421592 s, approachRate: -0.488512 m/s, LOS rate: -0.343463 deg/s, posRepo size: 4 2021-08-13T14:36:55.170Z,1628865415.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.600000 m, bearing: 245.151472 deg, approachRate: -0.488512 m/s, LOS rate: -0.343463 deg/s, cmd update: -1.030388 deg/s, cmd heading: 236.514692 deg, new cmd heading: 235.641606 deg. 2021-08-13T14:36:57.574Z,1628865417.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:36:57.961Z,1628865417.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:36:57.962Z,1628865417.962 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:36:57.962Z,1628865417.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:36:57.963Z,1628865417.963 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:36:58.365Z,1628865418.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 031,000,003D9,185,80,80,52,FF 2021-08-13T14:36:58.365Z,1628865418.365 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:36:58.365Z,1628865418.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:36:58.367Z,1628865418.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:36:58.765Z,1628865418.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:36:59.165Z,1628865419.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,003AF,186,80,80,A9,FF 2021-08-13T14:36:59.166Z,1628865419.166 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:36:59.191Z,1628865419.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:36:59.595Z,1628865419.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143659.89*53 2021-08-13T14:36:59.650Z,1628865419.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 246.392681 deg, deltaT: 4.400656 s, approachRate: -0.572642 m/s, LOS rate: 0.282051 deg/s, posRepo size: 4 2021-08-13T14:36:59.657Z,1628865419.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 19.079998 m, bearing: 246.392681 deg, approachRate: -0.572642 m/s, LOS rate: 0.282051 deg/s, cmd update: 0.846153 deg/s, cmd heading: 231.976169 deg, new cmd heading: 231.499406 deg. 2021-08-13T14:37:02.029Z,1628865422.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:02.401Z,1628865422.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:02.401Z,1628865422.401 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:02.401Z,1628865422.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:02.402Z,1628865422.402 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:02.805Z,1628865422.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F86,000,003AF,186,80,80,A9,FF 2021-08-13T14:37:02.805Z,1628865422.805 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:02.805Z,1628865422.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:02.807Z,1628865422.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:03.209Z,1628865423.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:03.605Z,1628865423.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00394,186,80,80,71,FF 2021-08-13T14:37:03.605Z,1628865423.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:03.712Z,1628865423.712 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:04.049Z,1628865424.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143704.33*5B 2021-08-13T14:37:04.114Z,1628865424.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 247.433547 deg, deltaT: 4.521377 s, approachRate: -0.358298 m/s, LOS rate: 0.230210 deg/s, posRepo size: 4 2021-08-13T14:37:04.131Z,1628865424.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.459999 m, bearing: 247.433547 deg, approachRate: -0.358298 m/s, LOS rate: 0.230210 deg/s, cmd update: 0.690630 deg/s, cmd heading: 235.794978 deg, new cmd heading: 236.109932 deg. 2021-08-13T14:37:06.531Z,1628865426.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:06.841Z,1628865426.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:06.841Z,1628865426.841 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:06.841Z,1628865426.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:06.842Z,1628865426.842 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:07.245Z,1628865427.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ECA,000,00394,186,80,80,71,FF 2021-08-13T14:37:07.246Z,1628865427.246 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:07.246Z,1628865427.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:07.247Z,1628865427.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:07.673Z,1628865427.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:08.049Z,1628865428.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,00366,187,80,80,9F,FF 2021-08-13T14:37:08.049Z,1628865428.049 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:08.083Z,1628865428.083 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:08.489Z,1628865428.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143708.77*57 2021-08-13T14:37:08.585Z,1628865428.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 249.101616 deg, deltaT: 4.392551 s, approachRate: -0.628336 m/s, LOS rate: 0.379749 deg/s, posRepo size: 4 2021-08-13T14:37:08.587Z,1628865428.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.700000 m, bearing: 249.101616 deg, approachRate: -0.628336 m/s, LOS rate: 0.379749 deg/s, cmd update: 1.139248 deg/s, cmd heading: 238.812624 deg, new cmd heading: 239.165384 deg. 2021-08-13T14:37:10.923Z,1628865430.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:11.281Z,1628865431.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:11.281Z,1628865431.281 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:11.281Z,1628865431.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:11.282Z,1628865431.282 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:11.689Z,1628865431.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F21,000,00366,187,80,80,9F,FF 2021-08-13T14:37:11.690Z,1628865431.690 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:11.690Z,1628865431.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:11.691Z,1628865431.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:12.125Z,1628865432.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:12.517Z,1628865432.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00343,186,80,80,AB,FF 2021-08-13T14:37:12.517Z,1628865432.517 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:12.632Z,1628865432.632 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:12.933Z,1628865432.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143713.21*5E 2021-08-13T14:37:12.965Z,1628865432.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 250.403505 deg, deltaT: 4.527679 s, approachRate: -0.463814 m/s, LOS rate: 0.287540 deg/s, posRepo size: 4 2021-08-13T14:37:12.967Z,1628865432.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.599998 m, bearing: 250.403505 deg, approachRate: -0.463814 m/s, LOS rate: 0.287540 deg/s, cmd update: 0.862620 deg/s, cmd heading: 243.946955 deg, new cmd heading: 244.388487 deg. 2021-08-13T14:37:15.339Z,1628865435.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:15.737Z,1628865435.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:15.737Z,1628865435.737 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:15.737Z,1628865435.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:15.738Z,1628865435.738 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:16.169Z,1628865436.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F5A,000,00343,186,80,80,AB,FF 2021-08-13T14:37:16.169Z,1628865436.169 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:16.169Z,1628865436.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:16.171Z,1628865436.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:16.537Z,1628865436.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:16.945Z,1628865436.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00319,187,80,80,9B,FF 2021-08-13T14:37:16.946Z,1628865436.946 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:16.966Z,1628865436.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:17.371Z,1628865437.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143717.70*5E 2021-08-13T14:37:17.406Z,1628865437.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 251.990950 deg, deltaT: 4.334091 s, approachRate: -0.581436 m/s, LOS rate: 0.366269 deg/s, posRepo size: 4 2021-08-13T14:37:17.416Z,1628865437.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.080001 m, bearing: 251.990950 deg, approachRate: -0.581436 m/s, LOS rate: 0.366269 deg/s, cmd update: 1.098808 deg/s, cmd heading: 247.730594 deg, new cmd heading: 248.112248 deg. 2021-08-13T14:37:19.807Z,1628865439.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:20.185Z,1628865440.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:20.185Z,1628865440.185 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:20.185Z,1628865440.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:20.186Z,1628865440.186 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:20.577Z,1628865440.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8D,000,00319,187,80,80,9B,FF 2021-08-13T14:37:20.578Z,1628865440.578 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:20.578Z,1628865440.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:20.583Z,1628865440.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:20.989Z,1628865440.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:21.393Z,1628865441.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,002F5,184,80,80,BC,FF 2021-08-13T14:37:21.393Z,1628865441.393 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:21.452Z,1628865441.452 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:21.841Z,1628865441.841 [Micromodem](INFO): Nmea in: $SNTTA,0.055818,,,,143722.11*40 2021-08-13T14:37:21.870Z,1628865441.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 252.574795 deg, deltaT: 4.486784 s, approachRate: -0.481414 m/s, LOS rate: 0.130125 deg/s, posRepo size: 4 2021-08-13T14:37:21.873Z,1628865441.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 7.919999 m, bearing: 252.574795 deg, approachRate: -0.481414 m/s, LOS rate: 0.130125 deg/s, cmd update: 0.390376 deg/s, cmd heading: 252.617411 deg, new cmd heading: 253.121212 deg. 2021-08-13T14:37:24.264Z,1628865444.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:24.617Z,1628865444.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:24.617Z,1628865444.617 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:24.617Z,1628865444.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:24.618Z,1628865444.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:25.017Z,1628865445.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD2,000,002F5,184,80,80,BC,FF 2021-08-13T14:37:25.017Z,1628865445.017 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:25.018Z,1628865445.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:25.019Z,1628865445.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:25.432Z,1628865445.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:25.829Z,1628865445.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,002D5,184,80,80,AB,FF 2021-08-13T14:37:25.830Z,1628865445.830 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:25.860Z,1628865445.860 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:26.265Z,1628865446.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143726.55*5B 2021-08-13T14:37:26.313Z,1628865446.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 255.458063 deg, deltaT: 4.406811 s, approachRate: -0.435689 m/s, LOS rate: 0.654276 deg/s, posRepo size: 4 2021-08-13T14:37:26.315Z,1628865446.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.999998 m, bearing: 255.458063 deg, approachRate: -0.435689 m/s, LOS rate: 0.654276 deg/s, cmd update: 1.962827 deg/s, cmd heading: 254.353086 deg, new cmd heading: 254.531155 deg. 2021-08-13T14:37:28.686Z,1628865448.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:29.057Z,1628865449.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:29.057Z,1628865449.057 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:29.057Z,1628865449.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:29.058Z,1628865449.058 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:29.473Z,1628865449.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FF4,000,002D5,184,80,80,AB,FF 2021-08-13T14:37:29.473Z,1628865449.473 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:29.474Z,1628865449.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:29.476Z,1628865449.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:29.882Z,1628865449.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:30.284Z,1628865450.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,002BB,184,80,80,BF,FF 2021-08-13T14:37:30.285Z,1628865450.285 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:30.325Z,1628865450.325 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:30.721Z,1628865450.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143731.00*5D 2021-08-13T14:37:30.745Z,1628865450.745 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-08-13T14:37:30.745Z,1628865450.745 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-08-13T14:37:30.745Z,1628865450.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-08-13T14:37:30.746Z,1628865450.746 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:37:30.746Z,1628865450.746 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-08-13T14:37:30.746Z,1628865450.746 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 2021-08-13T14:37:30.746Z,1628865450.746 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-08-13T14:37:30.746Z,1628865450.746 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-08-13T14:37:30.747Z,1628865450.747 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-08-13T14:37:30.749Z,1628865450.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 258.980556 deg, deltaT: 4.464774 s, approachRate: -0.349401 m/s, LOS rate: 0.788952 deg/s, posRepo size: 4 2021-08-13T14:37:30.751Z,1628865450.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.440000 m, bearing: 258.980556 deg, approachRate: -0.349401 m/s, LOS rate: 0.788952 deg/s, cmd update: 2.366856 deg/s, cmd heading: 263.117017 deg, new cmd heading: 263.955937 deg. 2021-08-13T14:37:31.110Z,1628865451.110 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T143731: (41.552319, -70.708603) 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-08-13T14:37:31.111Z,1628865451.111 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-08-13T14:37:33.141Z,1628865453.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:33.521Z,1628865453.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:33.521Z,1628865453.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:33.521Z,1628865453.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:33.522Z,1628865453.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:33.918Z,1628865453.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FDD,000,002BB,184,80,80,BF,FF 2021-08-13T14:37:33.918Z,1628865453.918 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:33.918Z,1628865453.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:33.920Z,1628865453.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:34.316Z,1628865454.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:34.721Z,1628865454.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,002B7,186,80,80,7B,FF 2021-08-13T14:37:34.722Z,1628865454.722 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:34.776Z,1628865454.776 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:35.153Z,1628865455.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143735.44*59 2021-08-13T14:37:35.184Z,1628865455.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 255.796185 deg, deltaT: 4.450972 s, approachRate: -0.053921 m/s, LOS rate: -0.715433 deg/s, posRepo size: 4 2021-08-13T14:37:35.186Z,1628865455.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 255.796185 deg, approachRate: -0.053921 m/s, LOS rate: -0.715433 deg/s, cmd update: -2.146298 deg/s, cmd heading: 273.641846 deg, new cmd heading: 274.625776 deg. 2021-08-13T14:37:37.594Z,1628865457.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:37.942Z,1628865457.942 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:37.942Z,1628865457.942 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:37.943Z,1628865457.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:37.944Z,1628865457.944 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:38.357Z,1628865458.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0C5,000,002B7,186,80,80,7B,FF 2021-08-13T14:37:38.357Z,1628865458.357 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:38.357Z,1628865458.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:38.359Z,1628865458.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:38.813Z,1628865458.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:39.157Z,1628865459.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,002B6,186,80,80,88,FF 2021-08-13T14:37:39.158Z,1628865459.158 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:39.177Z,1628865459.177 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:39.605Z,1628865459.605 [Micromodem](INFO): Nmea in: $SNTTA,0.006082,,,,143739.88*47 2021-08-13T14:37:39.631Z,1628865459.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 266.308611 deg, deltaT: 4.401690 s, approachRate: -0.013631 m/s, LOS rate: 2.388270 deg/s, posRepo size: 4 2021-08-13T14:37:39.633Z,1628865459.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.140001 m, bearing: 266.308611 deg, approachRate: -0.013631 m/s, LOS rate: 2.388270 deg/s, cmd update: 7.164811 deg/s, cmd heading: 264.185302 deg, new cmd heading: 263.205697 deg. 2021-08-13T14:37:42.027Z,1628865462.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:42.397Z,1628865462.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:42.397Z,1628865462.397 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:42.397Z,1628865462.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:42.398Z,1628865462.398 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:42.797Z,1628865462.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 05D,000,002B6,186,80,80,88,FF 2021-08-13T14:37:42.797Z,1628865462.797 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:42.797Z,1628865462.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:42.799Z,1628865462.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:43.209Z,1628865463.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:43.605Z,1628865463.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,002B8,187,80,80,51,FF 2021-08-13T14:37:43.605Z,1628865463.605 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:43.709Z,1628865463.709 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:44.049Z,1628865464.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143744.32*5E 2021-08-13T14:37:44.142Z,1628865464.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 261.317218 deg, deltaT: 4.531775 s, approachRate: 0.026479 m/s, LOS rate: -1.101421 deg/s, posRepo size: 4 2021-08-13T14:37:44.148Z,1628865464.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 261.317218 deg, approachRate: 0.026479 m/s, LOS rate: -1.101421 deg/s, cmd update: -3.304263 deg/s, cmd heading: 296.654256 deg, new cmd heading: 299.776968 deg. 2021-08-13T14:37:46.538Z,1628865466.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:46.837Z,1628865466.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:46.837Z,1628865466.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:46.837Z,1628865466.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:46.838Z,1628865466.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:47.245Z,1628865467.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 104,000,002B8,187,80,80,51,FF 2021-08-13T14:37:47.246Z,1628865467.246 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:47.246Z,1628865467.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:47.247Z,1628865467.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:47.737Z,1628865467.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:48.055Z,1628865468.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,002B8,185,80,80,70,FF 2021-08-13T14:37:48.057Z,1628865468.057 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:48.162Z,1628865468.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:48.498Z,1628865468.498 [Micromodem](INFO): Nmea in: $SNTTA,0.017129,,,,143748.77*41 2021-08-13T14:37:48.502Z,1628865468.502 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:37:48.526Z,1628865468.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 240.026043 deg, deltaT: 4.452360 s, approachRate: 0.000000 m/s, LOS rate: -4.781998 deg/s, posRepo size: 4 2021-08-13T14:37:48.526Z,1628865468.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.26 m. 2021-08-13T14:37:48.529Z,1628865468.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.259999 m, bearing: 240.026043 deg, approachRate: 0.000000 m/s, LOS rate: -4.781998 deg/s, cmd update: -12.000000 deg/s, cmd heading: 281.955590 deg, new cmd heading: 280.728979 deg. 2021-08-13T14:37:50.920Z,1628865470.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:51.281Z,1628865471.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:51.281Z,1628865471.281 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:51.281Z,1628865471.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:51.282Z,1628865471.282 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:51.681Z,1628865471.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 148,000,002B8,185,80,80,70,FF 2021-08-13T14:37:51.681Z,1628865471.681 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:51.682Z,1628865471.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:51.683Z,1628865471.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:52.111Z,1628865472.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:52.517Z,1628865472.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,002B7,18A,80,80,3C,FF 2021-08-13T14:37:52.517Z,1628865472.517 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:52.595Z,1628865472.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples. 2021-08-13T14:37:52.929Z,1628865472.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143753.21*5A 2021-08-13T14:37:52.950Z,1628865472.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 212.766895 deg, deltaT: 4.433041 s, approachRate: -0.013535 m/s, LOS rate: -6.149086 deg/s, posRepo size: 4 2021-08-13T14:37:52.950Z,1628865472.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.20 m. Cable present. 2021-08-13T14:37:52.950Z,1628865472.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-08-13T14:37:52.951Z,1628865472.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-08-13T14:37:52.951Z,1628865472.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1 2021-08-13T14:37:53.306Z,1628865473.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete. 2021-08-13T14:37:53.306Z,1628865473.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped 2021-08-13T14:37:53.306Z,1628865473.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2021-08-13T14:37:53.760Z,1628865473.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2021-08-13T14:37:53.761Z,1628865473.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:37:53.761Z,1628865473.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-08-13T14:37:53.762Z,1628865473.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-08-13T14:37:53.762Z,1628865473.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-08-13T14:37:53.762Z,1628865473.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-08-13T14:37:53.762Z,1628865473.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-08-13T14:37:53.762Z,1628865473.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:37:54.150Z,1628865474.150 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped 2021-08-13T14:37:54.150Z,1628865474.150 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal 2021-08-13T14:37:54.150Z,1628865474.150 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1 2021-08-13T14:37:54.151Z,1628865474.151 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T14:37:54.151Z,1628865474.151 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1 2021-08-13T14:37:54.151Z,1628865474.151 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2021-08-13T14:37:54.151Z,1628865474.151 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped 2021-08-13T14:37:54.151Z,1628865474.151 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1 2021-08-13T14:37:54.156Z,1628865474.156 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-08-13T14:37:54.156Z,1628865474.156 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-08-13T14:37:54.156Z,1628865474.156 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-08-13T14:37:54.156Z,1628865474.156 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-08-13T14:37:54.157Z,1628865474.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-08-13T14:37:54.157Z,1628865474.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-08-13T14:37:54.157Z,1628865474.157 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1 2021-08-13T14:37:54.157Z,1628865474.157 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component. 2021-08-13T14:37:54.509Z,1628865474.509 [PowerOnly](INFO): Powering down loadControl 2021-08-13T14:37:54.568Z,1628865474.568 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped 2021-08-13T14:37:54.568Z,1628865474.568 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T14:37:55.317Z,1628865475.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:37:55.697Z,1628865475.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:37:55.697Z,1628865475.697 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:37:55.698Z,1628865475.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:37:55.699Z,1628865475.699 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:37:56.148Z,1628865476.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 296,000,002B7,18A,80,80,3C,FF 2021-08-13T14:37:56.148Z,1628865476.148 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:37:56.148Z,1628865476.148 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:37:56.150Z,1628865476.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:37:56.505Z,1628865476.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:37:56.909Z,1628865476.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,002B9,185,80,80,79,FF 2021-08-13T14:37:56.909Z,1628865476.909 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:37:57.337Z,1628865477.337 [Micromodem](INFO): Nmea in: $SNTTA,0.006478,,,,143757.67*4F 2021-08-13T14:37:57.760Z,1628865477.760 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting. 2021-08-13T14:37:57.760Z,1628865477.760 [lineCaptureDepth:LineCapture:K.Wait] Stopped 2021-08-13T14:37:57.760Z,1628865477.760 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T14:37:57.760Z,1628865477.760 [lineCaptureDepth:LineCapture:L] Running Loop=1 2021-08-13T14:37:58.201Z,1628865478.201 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 2021-08-13T14:37:58.201Z,1628865478.201 [lineCaptureDepth:LineCapture:L] Stopped 2021-08-13T14:37:58.203Z,1628865478.203 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture 2021-08-13T14:37:58.203Z,1628865478.203 [lineCaptureDepth:LineCapture] Stopped 2021-08-13T14:37:58.203Z,1628865478.203 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-08-13T14:37:58.204Z,1628865478.204 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:G] Stopped 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:H] Stopped 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-08-13T14:37:58.205Z,1628865478.205 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-08-13T14:37:58.574Z,1628865478.574 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B 2021-08-13T14:37:58.575Z,1628865478.575 [lineCaptureDepth:Lap:B] Stopped 2021-08-13T14:37:58.575Z,1628865478.575 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-08-13T14:37:58.575Z,1628865478.575 [lineCaptureDepth:Lap:C] Running Loop=1 2021-08-13T14:37:58.957Z,1628865478.957 [lineCaptureDepth:Lap:C] Stopped 2021-08-13T14:37:58.957Z,1628865478.957 [lineCaptureDepth:Lap:D] Running Loop=1 2021-08-13T14:37:59.369Z,1628865479.369 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 2021-08-13T14:37:59.369Z,1628865479.369 [lineCaptureDepth:Lap:D] Stopped 2021-08-13T14:37:59.369Z,1628865479.369 [lineCaptureDepth:Lap:Docked] Running Loop=1 2021-08-13T14:37:59.370Z,1628865479.370 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked 2021-08-13T14:37:59.370Z,1628865479.370 [lineCaptureDepth:Lap:Docked:A] Running Loop=1 2021-08-13T14:37:59.771Z,1628865479.771 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2021-08-13T14:37:59.771Z,1628865479.771 [lineCaptureDepth:Lap:Docked:A] Stopped 2021-08-13T14:37:59.771Z,1628865479.771 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1 2021-08-13T14:37:59.771Z,1628865479.771 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2021-08-13T14:37:59.771Z,1628865479.771 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2021-08-13T14:37:59.772Z,1628865479.772 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m. 2021-08-13T14:37:59.772Z,1628865479.772 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree. 2021-08-13T14:37:59.773Z,1628865479.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:00.151Z,1628865480.151 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:00.151Z,1628865480.151 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:00.151Z,1628865480.151 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:00.152Z,1628865480.152 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:00.547Z,1628865480.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 14A,000,002B9,185,80,80,79,FF 2021-08-13T14:38:00.547Z,1628865480.547 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:00.547Z,1628865480.547 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:00.549Z,1628865480.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:01.069Z,1628865481.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:01.385Z,1628865481.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,101,000,002B9,186,80,80,7D,FF 2021-08-13T14:38:01.385Z,1628865481.385 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:01.829Z,1628865481.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143802.11*52 2021-08-13T14:38:04.252Z,1628865484.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:04.617Z,1628865484.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:04.617Z,1628865484.617 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:04.617Z,1628865484.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:04.618Z,1628865484.618 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:05.017Z,1628865485.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 101,000,002B9,186,80,80,7D,FF 2021-08-13T14:38:05.017Z,1628865485.017 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:05.017Z,1628865485.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:05.019Z,1628865485.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:05.432Z,1628865485.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:05.829Z,1628865485.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,002B9,187,80,80,7B,FF 2021-08-13T14:38:05.829Z,1628865485.829 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:06.261Z,1628865486.261 [Micromodem](INFO): Nmea in: $SNTTA,0.006276,0.442519,,,143806.54*5D 2021-08-13T14:38:08.695Z,1628865488.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:09.100Z,1628865489.100 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:09.101Z,1628865489.101 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:09.101Z,1628865489.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:09.106Z,1628865489.106 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:09.493Z,1628865489.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0F6,000,002B9,187,80,80,7B,FF 2021-08-13T14:38:09.493Z,1628865489.493 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:09.493Z,1628865489.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:09.495Z,1628865489.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:09.870Z,1628865489.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:10.273Z,1628865490.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,002B7,186,80,80,59,FF 2021-08-13T14:38:10.274Z,1628865490.274 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:10.277Z,1628865490.277 [Micromodem](INFO): Nmea in: $SNTTA,0.002422,0.204978,,,143811.02*54 2021-08-13T14:38:13.086Z,1628865493.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:13.597Z,1628865493.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:13.597Z,1628865493.597 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:13.597Z,1628865493.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:13.598Z,1628865493.598 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:13.913Z,1628865493.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 12D,000,002B7,186,80,80,59,FF 2021-08-13T14:38:13.913Z,1628865493.913 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:13.913Z,1628865493.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:13.915Z,1628865493.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:14.331Z,1628865494.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:14.713Z,1628865494.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,002B8,184,80,80,61,FF 2021-08-13T14:38:14.713Z,1628865494.713 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:15.161Z,1628865495.161 [Micromodem](INFO): Nmea in: $SNTTA,0.004907,,,,143815.44*40 2021-08-13T14:38:17.593Z,1628865497.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:17.953Z,1628865497.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:17.953Z,1628865497.953 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:17.953Z,1628865497.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:17.954Z,1628865497.954 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:18.350Z,1628865498.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 037,000,002B8,184,80,80,61,FF 2021-08-13T14:38:18.350Z,1628865498.350 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:18.350Z,1628865498.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:18.355Z,1628865498.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:18.757Z,1628865498.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:19.158Z,1628865499.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,002BD,184,80,80,8F,FF 2021-08-13T14:38:19.158Z,1628865499.158 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:19.589Z,1628865499.589 [Micromodem](INFO): Nmea in: $SNTTA,0.070249,,,,143819.88*4E 2021-08-13T14:38:21.969Z,1628865501.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:22.390Z,1628865502.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:22.390Z,1628865502.390 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:22.391Z,1628865502.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:22.393Z,1628865502.393 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:22.765Z,1628865502.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FB1,000,002BD,184,80,80,8F,FF 2021-08-13T14:38:22.765Z,1628865502.765 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:22.765Z,1628865502.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:22.767Z,1628865502.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:23.177Z,1628865503.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:23.677Z,1628865503.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,002BD,187,80,80,7C,FF 2021-08-13T14:38:23.677Z,1628865503.677 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:24.061Z,1628865504.061 [Micromodem](INFO): Nmea in: $SNTTA,0.025099,,,,143824.29*44 2021-08-13T14:38:26.533Z,1628865506.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:26.837Z,1628865506.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:26.837Z,1628865506.837 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:26.837Z,1628865506.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:26.838Z,1628865506.838 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:27.241Z,1628865507.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F2E,000,002BD,187,80,80,7C,FF 2021-08-13T14:38:27.242Z,1628865507.242 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:27.242Z,1628865507.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:27.243Z,1628865507.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:27.645Z,1628865507.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:28.045Z,1628865508.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,002BE,188,80,80,81,FF 2021-08-13T14:38:28.046Z,1628865508.046 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:28.493Z,1628865508.493 [Micromodem](INFO): Nmea in: $SNTTA,0.047723,,,,143828.77*41 2021-08-13T14:38:30.916Z,1628865510.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:31.277Z,1628865511.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:31.277Z,1628865511.277 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:31.277Z,1628865511.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:31.278Z,1628865511.278 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:31.686Z,1628865511.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D64,000,002BE,188,80,80,81,FF 2021-08-13T14:38:31.686Z,1628865511.686 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:31.686Z,1628865511.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:31.688Z,1628865511.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:32.062Z,1628865512.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:32.513Z,1628865512.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,002BE,183,80,80,78,FF 2021-08-13T14:38:32.513Z,1628865512.513 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:32.517Z,1628865512.517 [Micromodem](INFO): Nmea in: $SNTTA,0.031387,0.106070,,,143833.21*5D 2021-08-13T14:38:35.330Z,1628865515.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:35.725Z,1628865515.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:35.725Z,1628865515.725 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:35.725Z,1628865515.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:35.726Z,1628865515.726 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:36.177Z,1628865516.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 011,000,002BE,183,80,80,78,FF 2021-08-13T14:38:36.177Z,1628865516.177 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:36.178Z,1628865516.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:36.179Z,1628865516.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:36.561Z,1628865516.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:36.965Z,1628865516.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,002BD,186,80,80,90,FF 2021-08-13T14:38:36.966Z,1628865516.966 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:37.382Z,1628865517.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143837.71*52 2021-08-13T14:38:39.813Z,1628865519.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:40.189Z,1628865520.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:40.190Z,1628865520.190 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:40.190Z,1628865520.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:40.191Z,1628865520.191 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:40.597Z,1628865520.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E3A,000,002BD,186,80,80,90,FF 2021-08-13T14:38:40.597Z,1628865520.597 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:40.597Z,1628865520.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:40.599Z,1628865520.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:41.009Z,1628865521.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:41.405Z,1628865521.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,002BD,183,80,80,8F,FF 2021-08-13T14:38:41.405Z,1628865521.405 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:41.846Z,1628865521.846 [Micromodem](INFO): Nmea in: $SNTTA,0.147173,,,,143842.12*4C 2021-08-13T14:38:44.010Z,1628865524.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:44.233Z,1628865524.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:44.233Z,1628865524.233 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:44.233Z,1628865524.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:44.234Z,1628865524.234 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:44.641Z,1628865524.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FEA,000,002BD,183,80,80,8F,FF 2021-08-13T14:38:44.641Z,1628865524.641 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:44.641Z,1628865524.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:44.643Z,1628865524.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:45.055Z,1628865525.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:45.449Z,1628865525.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,002BD,188,80,80,85,FF 2021-08-13T14:38:45.450Z,1628865525.450 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:45.898Z,1628865525.898 [Micromodem](INFO): Nmea in: $SNTTA,0.066121,,,,143846.17*48 2021-08-13T14:38:48.315Z,1628865528.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:48.677Z,1628865528.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:48.677Z,1628865528.677 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:48.678Z,1628865528.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:48.679Z,1628865528.679 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:49.081Z,1628865529.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DDA,000,002BD,188,80,80,85,FF 2021-08-13T14:38:49.081Z,1628865529.081 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:49.081Z,1628865529.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:49.083Z,1628865529.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:49.517Z,1628865529.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:49.890Z,1628865529.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,002BD,185,80,80,8B,FF 2021-08-13T14:38:49.890Z,1628865529.890 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:50.305Z,1628865530.305 [Micromodem](INFO): Nmea in: $SNTTA,0.050921,0.448252,,,143850.61*50 2021-08-13T14:38:52.776Z,1628865532.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:53.093Z,1628865533.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:53.093Z,1628865533.093 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:53.093Z,1628865533.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:53.094Z,1628865533.094 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:53.495Z,1628865533.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FE5,000,002BD,185,80,80,8B,FF 2021-08-13T14:38:53.495Z,1628865533.495 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:53.495Z,1628865533.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:53.497Z,1628865533.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:54.015Z,1628865534.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:54.341Z,1628865534.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD4,000,002BC,189,80,80,5B,FF 2021-08-13T14:38:54.342Z,1628865534.342 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:57.175Z,1628865537.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:38:57.573Z,1628865537.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:38:57.574Z,1628865537.574 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:38:57.574Z,1628865537.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:38:57.575Z,1628865537.575 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:38:57.969Z,1628865537.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CD4,000,002BC,189,80,80,5B,FF 2021-08-13T14:38:57.969Z,1628865537.969 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:38:57.969Z,1628865537.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:38:57.971Z,1628865537.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:38:58.385Z,1628865538.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:38:58.785Z,1628865538.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,002BB,18A,80,80,62,FF 2021-08-13T14:38:58.786Z,1628865538.786 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:38:59.225Z,1628865539.225 [Micromodem](INFO): Nmea in: $SNTTA,0.062661,,,,143859.50*42 2021-08-13T14:39:01.637Z,1628865541.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:02.009Z,1628865542.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:02.009Z,1628865542.009 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:02.009Z,1628865542.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:02.010Z,1628865542.010 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:02.385Z,1628865542.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DA9,000,002BB,18A,80,80,62,FF 2021-08-13T14:39:02.385Z,1628865542.385 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:02.385Z,1628865542.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:02.387Z,1628865542.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:02.829Z,1628865542.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:03.190Z,1628865543.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF3,000,002BD,189,80,80,5F,FF 2021-08-13T14:39:03.191Z,1628865543.191 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:03.625Z,1628865543.625 [Micromodem](INFO): Nmea in: $SNTTA,0.100238,,,,143903.91*4C 2021-08-13T14:39:06.081Z,1628865546.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:06.460Z,1628865546.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:06.460Z,1628865546.460 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:06.461Z,1628865546.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:06.462Z,1628865546.462 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:06.866Z,1628865546.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CF3,000,002BD,189,80,80,5F,FF 2021-08-13T14:39:06.866Z,1628865546.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:06.866Z,1628865546.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:06.869Z,1628865546.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:07.277Z,1628865547.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:07.673Z,1628865547.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,002BC,187,80,80,5C,FF 2021-08-13T14:39:07.673Z,1628865547.673 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:08.121Z,1628865548.121 [Micromodem](INFO): Nmea in: $SNTTA,0.004920,,,,143908.39*42 2021-08-13T14:39:10.545Z,1628865550.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:10.905Z,1628865550.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:10.905Z,1628865550.905 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:10.905Z,1628865550.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:10.906Z,1628865550.906 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:11.310Z,1628865551.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EE6,000,002BC,187,80,80,5C,FF 2021-08-13T14:39:11.310Z,1628865551.310 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:11.311Z,1628865551.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:11.313Z,1628865551.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:11.709Z,1628865551.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:12.145Z,1628865552.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,002BB,189,80,80,66,FF 2021-08-13T14:39:12.145Z,1628865552.145 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:12.149Z,1628865552.149 [Micromodem](INFO): Nmea in: $SNTTA,0.030142,0.295685,,,143912.84*5F 2021-08-13T14:39:14.971Z,1628865554.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:15.341Z,1628865555.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:15.341Z,1628865555.341 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:15.341Z,1628865555.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:15.342Z,1628865555.342 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:15.745Z,1628865555.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P DA4,000,002BB,189,80,80,66,FF 2021-08-13T14:39:15.745Z,1628865555.745 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:15.745Z,1628865555.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:15.747Z,1628865555.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:16.180Z,1628865556.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:16.557Z,1628865556.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,002BD,188,80,80,72,FF 2021-08-13T14:39:16.557Z,1628865556.557 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:16.989Z,1628865556.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143917.27*52 2021-08-13T14:39:19.415Z,1628865559.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:19.785Z,1628865559.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:19.785Z,1628865559.785 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:19.785Z,1628865559.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:19.786Z,1628865559.786 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:20.189Z,1628865560.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P CE1,000,002BD,188,80,80,72,FF 2021-08-13T14:39:20.189Z,1628865560.189 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:20.189Z,1628865560.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:20.191Z,1628865560.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:20.597Z,1628865560.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:21.001Z,1628865561.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,002BB,187,80,80,61,FF 2021-08-13T14:39:21.001Z,1628865561.001 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:21.455Z,1628865561.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143921.71*54 2021-08-13T14:39:23.818Z,1628865563.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:24.307Z,1628865564.307 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:24.307Z,1628865564.307 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:24.308Z,1628865564.308 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:24.309Z,1628865564.309 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:24.641Z,1628865564.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E1D,000,002BB,187,80,80,61,FF 2021-08-13T14:39:24.642Z,1628865564.642 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:24.642Z,1628865564.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:24.643Z,1628865564.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:25.041Z,1628865565.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:25.452Z,1628865565.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,002BC,186,80,80,58,FF 2021-08-13T14:39:25.454Z,1628865565.454 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:25.890Z,1628865565.890 [Micromodem](INFO): Nmea in: $SNTTA,0.045509,,,,143926.17*40 2021-08-13T14:39:28.307Z,1628865568.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:28.673Z,1628865568.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:28.673Z,1628865568.673 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:28.673Z,1628865568.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:28.674Z,1628865568.674 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:29.081Z,1628865569.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED4,000,002BC,186,80,80,58,FF 2021-08-13T14:39:29.081Z,1628865569.081 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:29.081Z,1628865569.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:29.083Z,1628865569.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:29.513Z,1628865569.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:29.890Z,1628865569.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,002BB,186,80,80,5B,FF 2021-08-13T14:39:29.890Z,1628865569.890 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:30.309Z,1628865570.309 [Micromodem](INFO): Nmea in: $SNTTA,0.409532,0.034796,,,143930.61*53 2021-08-13T14:39:32.743Z,1628865572.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:33.125Z,1628865573.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:33.125Z,1628865573.125 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:33.125Z,1628865573.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:33.126Z,1628865573.126 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:33.499Z,1628865573.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E7C,000,002BB,186,80,80,5B,FF 2021-08-13T14:39:33.499Z,1628865573.499 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:33.499Z,1628865573.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:33.501Z,1628865573.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:33.908Z,1628865573.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:34.405Z,1628865574.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,002BB,186,80,80,58,FF 2021-08-13T14:39:34.405Z,1628865574.405 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:34.409Z,1628865574.409 [Micromodem](INFO): Nmea in: $SNTTA,0.019861,0.241380,,,143935.02*5E 2021-08-13T14:39:37.182Z,1628865577.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:37.569Z,1628865577.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:37.569Z,1628865577.569 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:37.570Z,1628865577.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:37.571Z,1628865577.571 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:37.977Z,1628865577.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E55,000,002BB,186,80,80,58,FF 2021-08-13T14:39:37.977Z,1628865577.977 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:37.977Z,1628865577.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:37.979Z,1628865577.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:38.373Z,1628865578.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:38.782Z,1628865578.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,002BB,187,80,80,58,FF 2021-08-13T14:39:38.782Z,1628865578.782 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:39.205Z,1628865579.205 [Micromodem](INFO): Nmea in: $SNTTA,0.087507,,,,143939.50*4D 2021-08-13T14:39:41.645Z,1628865581.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:42.018Z,1628865582.018 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:42.018Z,1628865582.018 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:42.018Z,1628865582.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:42.019Z,1628865582.019 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:42.429Z,1628865582.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ECC,000,002BB,187,80,80,58,FF 2021-08-13T14:39:42.429Z,1628865582.429 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:42.429Z,1628865582.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:42.431Z,1628865582.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:42.806Z,1628865582.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:43.221Z,1628865583.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,002BC,186,80,80,66,FF 2021-08-13T14:39:43.221Z,1628865583.221 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:43.623Z,1628865583.623 [Micromodem](INFO): Nmea in: $SNTTA,0.066721,,,,143943.96*43 2021-08-13T14:39:46.139Z,1628865586.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:46.465Z,1628865586.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:46.466Z,1628865586.466 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:46.466Z,1628865586.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:46.469Z,1628865586.469 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:46.858Z,1628865586.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ECC,000,002BC,186,80,80,66,FF 2021-08-13T14:39:46.858Z,1628865586.858 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:46.858Z,1628865586.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:46.861Z,1628865586.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:47.265Z,1628865587.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:47.666Z,1628865587.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,002BC,186,80,80,5D,FF 2021-08-13T14:39:47.666Z,1628865587.666 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:48.100Z,1628865588.100 [Micromodem](INFO): Nmea in: $SNTTA,0.008746,,,,143948.38*45 2021-08-13T14:39:50.545Z,1628865590.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:50.893Z,1628865590.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:50.893Z,1628865590.893 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:50.894Z,1628865590.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:50.895Z,1628865590.895 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:51.301Z,1628865591.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBF,000,002BC,186,80,80,5D,FF 2021-08-13T14:39:51.301Z,1628865591.301 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:51.302Z,1628865591.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:51.303Z,1628865591.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:51.704Z,1628865591.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:52.122Z,1628865592.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,002BD,186,80,80,5E,FF 2021-08-13T14:39:52.123Z,1628865592.123 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:52.570Z,1628865592.570 [Micromodem](INFO): Nmea in: $SNTTA,0.054158,,,,143952.83*4E 2021-08-13T14:39:54.954Z,1628865594.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:55.337Z,1628865595.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:55.337Z,1628865595.337 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:55.337Z,1628865595.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:55.338Z,1628865595.338 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:39:55.749Z,1628865595.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E89,000,002BD,186,80,80,5E,FF 2021-08-13T14:39:55.750Z,1628865595.750 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:39:55.750Z,1628865595.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:39:55.752Z,1628865595.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:39:56.181Z,1628865596.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:39:56.553Z,1628865596.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,002BD,186,80,80,5E,FF 2021-08-13T14:39:56.553Z,1628865596.553 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:39:56.993Z,1628865596.993 [Micromodem](INFO): Nmea in: $SNTTA,0.239929,,,,143957.28*4D 2021-08-13T14:39:59.391Z,1628865599.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:39:59.785Z,1628865599.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:39:59.785Z,1628865599.785 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:39:59.786Z,1628865599.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:39:59.787Z,1628865599.787 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:00.185Z,1628865600.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EEE,000,002BD,186,80,80,5E,FF 2021-08-13T14:40:00.185Z,1628865600.185 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:00.185Z,1628865600.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:00.187Z,1628865600.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:00.592Z,1628865600.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:00.997Z,1628865600.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,002BC,189,80,80,66,FF 2021-08-13T14:40:00.998Z,1628865600.998 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:01.494Z,1628865601.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144001.71*58 2021-08-13T14:40:03.814Z,1628865603.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:04.203Z,1628865604.203 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:04.203Z,1628865604.203 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:04.203Z,1628865604.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:04.204Z,1628865604.204 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:04.706Z,1628865604.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D0F,000,002BC,189,80,80,66,FF 2021-08-13T14:40:04.706Z,1628865604.706 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:04.706Z,1628865604.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:04.710Z,1628865604.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:05.076Z,1628865605.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:05.452Z,1628865605.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,002BC,186,80,80,64,FF 2021-08-13T14:40:05.453Z,1628865605.453 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:06.259Z,1628865606.259 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144006.23*58 2021-08-13T14:40:08.309Z,1628865608.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:08.669Z,1628865608.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:08.669Z,1628865608.669 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:08.669Z,1628865608.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:08.670Z,1628865608.670 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:09.073Z,1628865609.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA1,000,002BC,186,80,80,64,FF 2021-08-13T14:40:09.073Z,1628865609.073 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:09.073Z,1628865609.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:09.075Z,1628865609.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:09.513Z,1628865609.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:09.882Z,1628865609.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,002BD,186,80,80,5D,FF 2021-08-13T14:40:09.883Z,1628865609.883 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:10.317Z,1628865610.317 [Micromodem](INFO): Nmea in: $SNTTA,0.034497,,,,144010.60*4B 2021-08-13T14:40:12.767Z,1628865612.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:13.093Z,1628865613.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:13.093Z,1628865613.093 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:13.093Z,1628865613.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:13.094Z,1628865613.094 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:13.537Z,1628865613.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EBA,000,002BD,186,80,80,5D,FF 2021-08-13T14:40:13.537Z,1628865613.537 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:13.537Z,1628865613.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:13.539Z,1628865613.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:13.903Z,1628865613.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:14.293Z,1628865614.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D91,000,002BB,18A,80,80,68,FF 2021-08-13T14:40:14.294Z,1628865614.294 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:14.309Z,1628865614.309 [Micromodem](INFO): Nmea in: $SNTTA,0.073099,0.220893,,,144015.07*5A 2021-08-13T14:40:17.183Z,1628865617.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:17.572Z,1628865617.572 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:17.572Z,1628865617.572 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:17.572Z,1628865617.572 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:17.573Z,1628865617.573 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:17.973Z,1628865617.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P D91,000,002BB,18A,80,80,68,FF 2021-08-13T14:40:17.973Z,1628865617.973 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:17.973Z,1628865617.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:17.975Z,1628865617.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:18.375Z,1628865618.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:18.773Z,1628865618.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,002BB,186,80,80,57,FF 2021-08-13T14:40:18.774Z,1628865618.774 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:19.209Z,1628865619.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144019.50*52 2021-08-13T14:40:21.626Z,1628865621.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:22.009Z,1628865622.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:22.009Z,1628865622.009 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:22.009Z,1628865622.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:22.010Z,1628865622.010 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:22.413Z,1628865622.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EB7,000,002BB,186,80,80,57,FF 2021-08-13T14:40:22.413Z,1628865622.413 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:22.413Z,1628865622.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:22.415Z,1628865622.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:22.845Z,1628865622.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:23.201Z,1628865623.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,002BC,186,80,80,5D,FF 2021-08-13T14:40:23.202Z,1628865623.202 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:23.669Z,1628865623.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144023.94*53 2021-08-13T14:40:26.078Z,1628865626.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:26.476Z,1628865626.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:26.476Z,1628865626.476 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:26.477Z,1628865626.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:26.477Z,1628865626.477 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:26.865Z,1628865626.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EEB,000,002BC,186,80,80,5D,FF 2021-08-13T14:40:26.866Z,1628865626.866 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:26.866Z,1628865626.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:26.885Z,1628865626.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:27.277Z,1628865627.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:27.670Z,1628865627.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,002BA,186,80,80,61,FF 2021-08-13T14:40:27.670Z,1628865627.670 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:28.121Z,1628865628.121 [Micromodem](INFO): Nmea in: $SNTTA,0.004997,,,,144028.41*4D 2021-08-13T14:40:30.585Z,1628865630.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:30.909Z,1628865630.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:30.909Z,1628865630.909 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:30.909Z,1628865630.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:30.910Z,1628865630.910 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:31.313Z,1628865631.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P ED9,000,002BA,186,80,80,61,FF 2021-08-13T14:40:31.313Z,1628865631.313 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:31.313Z,1628865631.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:31.315Z,1628865631.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:31.727Z,1628865631.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:32.153Z,1628865632.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E74,000,002BB,186,80,80,56,FF 2021-08-13T14:40:32.153Z,1628865632.153 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:32.558Z,1628865632.558 [Micromodem](INFO): Nmea in: $SNTTA,0.006180,,,,144032.84*43 2021-08-13T14:40:35.035Z,1628865635.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:35.349Z,1628865635.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:35.349Z,1628865635.349 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:35.349Z,1628865635.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:35.350Z,1628865635.350 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:35.753Z,1628865635.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E74,000,002BB,186,80,80,56,FF 2021-08-13T14:40:35.753Z,1628865635.753 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:35.753Z,1628865635.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:35.755Z,1628865635.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:36.181Z,1628865636.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:36.569Z,1628865636.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,002BD,186,80,80,59,FF 2021-08-13T14:40:36.570Z,1628865636.570 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:37.001Z,1628865637.001 [Micromodem](INFO): Nmea in: $SNTTA,0.006433,,,,144037.28*4D 2021-08-13T14:40:39.402Z,1628865639.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:39.793Z,1628865639.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:39.793Z,1628865639.793 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:39.793Z,1628865639.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:39.794Z,1628865639.794 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:40.197Z,1628865640.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E9E,000,002BD,186,80,80,59,FF 2021-08-13T14:40:40.197Z,1628865640.197 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:40.197Z,1628865640.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:40.199Z,1628865640.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:40.623Z,1628865640.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:41.005Z,1628865641.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,002BC,186,80,80,5B,FF 2021-08-13T14:40:41.005Z,1628865641.005 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:41.453Z,1628865641.453 [Micromodem](INFO): Nmea in: $SNTTA,0.067680,,,,144041.72*4E 2021-08-13T14:40:43.875Z,1628865643.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact *** 2021-08-13T14:40:44.209Z,1628865644.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:40:44.209Z,1628865644.209 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:40:44.209Z,1628865644.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:40:44.210Z,1628865644.210 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:40:44.609Z,1628865644.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E97,000,002BC,186,80,80,5B,FF 2021-08-13T14:40:44.609Z,1628865644.609 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:40:44.609Z,1628865644.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:40:44.611Z,1628865644.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:40:45.123Z,1628865645.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:40:45.488Z,1628865645.488 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,002B8,187,80,80,4D,FF 2021-08-13T14:40:45.488Z,1628865645.488 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:40:45.868Z,1628865645.868 [Micromodem](INFO): Nmea in: $SNTTA,0.048067,,,,144046.13*4C 2021-08-13T14:40:46.698Z,1628865646.698 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T14:40:47.542Z,1628865647.542 [lineCaptureDepth](INFO): Timed out from 2021-08-13T12:40:47.1Z 2021-08-13T14:40:47.542Z,1628865647.542 [MissionManager](INFO): lineCaptureDepth is completed. 2021-08-13T14:40:47.542Z,1628865647.542 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth 2021-08-13T14:40:47.542Z,1628865647.542 [lineCaptureDepth] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science:B] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science:C] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science:Read_Oil] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science:OceanCurrent] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped 2021-08-13T14:40:47.543Z,1628865647.543 [lineCaptureDepth:StandardEnvelopes] Stopped 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-08-13T14:40:47.544Z,1628865647.544 [lineCaptureDepth:TrackAC.] Stopped 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:Lap] Stopped 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:Lap:Docked] Stopped 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked 2021-08-13T14:40:47.545Z,1628865647.545 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped 2021-08-13T14:40:47.756Z,1628865647.756 [WetLabsSeaOWL_UV_A](INFO): Powering down 2021-08-13T14:40:47.856Z,1628865647.856 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-08-13T14:40:47.856Z,1628865647.856 [DefaultWithUndock] Running Loop=1 2021-08-13T14:40:47.856Z,1628865647.856 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2021-08-13T14:40:47.857Z,1628865647.857 [DefaultWithUndock:A.Wait] Running Loop=1 2021-08-13T14:40:47.857Z,1628865647.857 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2021-08-13T14:41:18.186Z,1628865678.186 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:A.Wait] Stopped 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:LeaveDock] Running Loop=1 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2021-08-13T14:41:18.187Z,1628865678.187 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2021-08-13T14:41:18.188Z,1628865678.188 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2021-08-13T14:41:18.959Z,1628865678.959 [PowerOnly](INFO): Powering up loadControl 2021-08-13T14:41:21.038Z,1628865681.038 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:21.450Z,1628865681.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:21.450Z,1628865681.450 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:21.450Z,1628865681.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:21.452Z,1628865681.452 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:21.511Z,1628865681.511 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock. 2021-08-13T14:41:21.813Z,1628865681.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E8C,000,002B8,187,80,80,4D,FF 2021-08-13T14:41:21.814Z,1628865681.814 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:21.814Z,1628865681.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:21.815Z,1628865681.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:21.887Z,1628865681.887 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-08-13T14:41:22.227Z,1628865682.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:22.617Z,1628865682.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,002B6,186,80,80,7D,FF 2021-08-13T14:41:22.617Z,1628865682.617 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:23.058Z,1628865683.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144123.34*58 2021-08-13T14:41:25.507Z,1628865685.507 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:25.849Z,1628865685.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:25.849Z,1628865685.849 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:25.849Z,1628865685.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:25.850Z,1628865685.850 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:26.253Z,1628865686.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 094,000,002B6,186,80,80,7D,FF 2021-08-13T14:41:26.253Z,1628865686.253 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:26.253Z,1628865686.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:26.255Z,1628865686.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:26.660Z,1628865686.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:27.065Z,1628865687.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,002B5,187,80,80,42,FF 2021-08-13T14:41:27.066Z,1628865687.066 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:27.509Z,1628865687.509 [Micromodem](INFO): Nmea in: $SNTTA,0.002391,,,,144127.78*43 2021-08-13T14:41:29.906Z,1628865689.906 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:30.302Z,1628865690.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:30.302Z,1628865690.302 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:30.302Z,1628865690.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:30.303Z,1628865690.303 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:30.750Z,1628865690.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 0C4,000,002B5,187,80,80,42,FF 2021-08-13T14:41:30.750Z,1628865690.750 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:30.750Z,1628865690.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:30.755Z,1628865690.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:31.109Z,1628865691.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:31.521Z,1628865691.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,477,000,002B7,189,80,80,4B,FF 2021-08-13T14:41:31.522Z,1628865691.522 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:31.938Z,1628865691.938 [Micromodem](INFO): Nmea in: $SNTTA,0.062482,,,,144132.28*41 2021-08-13T14:41:31.964Z,1628865691.964 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off. 2021-08-13T14:41:34.366Z,1628865694.366 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:34.741Z,1628865694.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:34.741Z,1628865694.741 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:34.741Z,1628865694.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:34.742Z,1628865694.742 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:35.141Z,1628865695.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 477,000,002B7,189,80,80,4B,FF 2021-08-13T14:41:35.141Z,1628865695.141 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:35.141Z,1628865695.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:35.143Z,1628865695.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:35.549Z,1628865695.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:35.953Z,1628865695.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,002BE,185,80,80,A9,FF 2021-08-13T14:41:35.954Z,1628865695.954 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:36.382Z,1628865696.382 [Micromodem](INFO): Nmea in: $SNTTA,,0.032946,,,144136.67*4E 2021-08-13T14:41:38.800Z,1628865698.800 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:39.189Z,1628865699.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:39.189Z,1628865699.189 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:39.189Z,1628865699.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:39.190Z,1628865699.190 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:39.589Z,1628865699.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P 025,000,002BE,185,80,80,A9,FF 2021-08-13T14:41:39.589Z,1628865699.589 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:39.589Z,1628865699.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:39.591Z,1628865699.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:39.997Z,1628865699.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:40.393Z,1628865700.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,002CA,185,80,80,B9,FF 2021-08-13T14:41:40.393Z,1628865700.393 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:40.822Z,1628865700.822 [Micromodem](INFO): Nmea in: $SNTTA,0.041354,,,,144141.11*42 2021-08-13T14:41:43.244Z,1628865703.244 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:43.625Z,1628865703.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:43.625Z,1628865703.625 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:43.625Z,1628865703.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:43.626Z,1628865703.626 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:44.025Z,1628865704.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD3,000,002CA,185,80,80,B9,FF 2021-08-13T14:41:44.025Z,1628865704.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:44.025Z,1628865704.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:44.027Z,1628865704.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:44.445Z,1628865704.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:44.842Z,1628865704.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,002D7,184,80,80,D4,FF 2021-08-13T14:41:44.843Z,1628865704.843 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:45.273Z,1628865705.273 [Micromodem](INFO): Nmea in: $SNTTA,0.025236,,,,144145.55*41 2021-08-13T14:41:47.714Z,1628865707.714 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:48.070Z,1628865708.070 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:48.070Z,1628865708.070 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:48.071Z,1628865708.071 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:48.073Z,1628865708.073 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:48.489Z,1628865708.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FD6,000,002D7,184,80,80,D4,FF 2021-08-13T14:41:48.489Z,1628865708.489 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:48.489Z,1628865708.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:48.491Z,1628865708.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:48.877Z,1628865708.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:49.285Z,1628865709.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,002E3,184,80,80,C9,FF 2021-08-13T14:41:49.285Z,1628865709.285 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:49.709Z,1628865709.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144150.02*59 2021-08-13T14:41:52.171Z,1628865712.171 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:52.521Z,1628865712.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:52.521Z,1628865712.521 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:52.521Z,1628865712.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:52.522Z,1628865712.522 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:52.917Z,1628865712.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P FBB,000,002E3,184,80,80,C9,FF 2021-08-13T14:41:52.917Z,1628865712.917 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:52.917Z,1628865712.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:52.919Z,1628865712.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:53.329Z,1628865713.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:53.733Z,1628865713.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00305,187,80,80,B6,FF 2021-08-13T14:41:53.733Z,1628865713.733 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:54.177Z,1628865714.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144154.44*5F 2021-08-13T14:41:56.575Z,1628865716.575 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:41:56.965Z,1628865716.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:41:56.965Z,1628865716.965 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:41:56.966Z,1628865716.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:41:56.967Z,1628865716.967 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:41:57.361Z,1628865717.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F8E,000,00305,187,80,80,B6,FF 2021-08-13T14:41:57.361Z,1628865717.361 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:41:57.361Z,1628865717.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:41:57.363Z,1628865717.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:41:57.773Z,1628865717.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:41:58.177Z,1628865718.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00300,187,80,80,AC,FF 2021-08-13T14:41:58.177Z,1628865718.177 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:41:58.597Z,1628865718.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144158.89*52 2021-08-13T14:42:01.009Z,1628865721.009 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:01.401Z,1628865721.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:01.401Z,1628865721.401 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:01.401Z,1628865721.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:01.402Z,1628865721.402 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:01.814Z,1628865721.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F6B,000,00300,187,80,80,AC,FF 2021-08-13T14:42:01.814Z,1628865721.814 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:01.814Z,1628865721.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:01.816Z,1628865721.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:02.217Z,1628865722.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:02.618Z,1628865722.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,0030C,186,80,80,9D,FF 2021-08-13T14:42:02.618Z,1628865722.618 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:03.046Z,1628865723.046 [Micromodem](INFO): Nmea in: $SNTTA,0.008218,,,,144203.34*44 2021-08-13T14:42:05.490Z,1628865725.490 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:05.853Z,1628865725.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:05.853Z,1628865725.853 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:05.853Z,1628865725.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:05.854Z,1628865725.854 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:06.246Z,1628865726.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P F52,000,0030C,186,80,80,9D,FF 2021-08-13T14:42:06.246Z,1628865726.246 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:06.246Z,1628865726.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:06.266Z,1628865726.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:06.661Z,1628865726.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:07.061Z,1628865727.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,0031E,187,80,80,69,FF 2021-08-13T14:42:07.061Z,1628865727.061 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:07.509Z,1628865727.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144207.79*54 2021-08-13T14:42:07.551Z,1628865727.551 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2021-08-13T14:42:09.897Z,1628865729.897 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:10.289Z,1628865730.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:10.289Z,1628865730.289 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:10.289Z,1628865730.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:10.290Z,1628865730.290 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:10.697Z,1628865730.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EF6,000,0031E,187,80,80,69,FF 2021-08-13T14:42:10.698Z,1628865730.698 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:10.698Z,1628865730.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:10.700Z,1628865730.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:11.101Z,1628865731.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:11.521Z,1628865731.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,0032A,186,80,80,6C,FF 2021-08-13T14:42:11.521Z,1628865731.521 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:11.925Z,1628865731.925 [Micromodem](INFO): Nmea in: $SNTTA,0.031111,,,,144212.22*43 2021-08-13T14:42:14.370Z,1628865734.370 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:14.737Z,1628865734.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:14.737Z,1628865734.737 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:14.737Z,1628865734.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:14.738Z,1628865734.738 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:15.134Z,1628865735.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P EA1,000,0032A,186,80,80,6C,FF 2021-08-13T14:42:15.134Z,1628865735.134 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:15.134Z,1628865735.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:15.136Z,1628865735.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:15.545Z,1628865735.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:15.945Z,1628865735.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E98,000,00337,186,80,80,95,FF 2021-08-13T14:42:15.945Z,1628865735.945 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:16.369Z,1628865736.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144216.66*5A 2021-08-13T14:42:18.808Z,1628865738.808 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:19.177Z,1628865739.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:19.177Z,1628865739.177 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:19.177Z,1628865739.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:19.178Z,1628865739.178 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:19.581Z,1628865739.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E98,000,00337,186,80,80,95,FF 2021-08-13T14:42:19.581Z,1628865739.581 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:19.581Z,1628865739.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:19.583Z,1628865739.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:19.993Z,1628865739.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:20.389Z,1628865740.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00345,186,80,80,7C,FF 2021-08-13T14:42:20.389Z,1628865740.389 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:20.826Z,1628865740.826 [Micromodem](INFO): Nmea in: $SNTTA,0.033471,,,,144221.11*42 2021-08-13T14:42:23.240Z,1628865743.240 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:23.621Z,1628865743.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:23.621Z,1628865743.621 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:23.621Z,1628865743.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:23.622Z,1628865743.622 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:24.025Z,1628865744.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E6B,000,00345,186,80,80,7C,FF 2021-08-13T14:42:24.025Z,1628865744.025 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:24.025Z,1628865744.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:24.027Z,1628865744.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:24.454Z,1628865744.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:24.833Z,1628865744.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00353,186,80,80,82,FF 2021-08-13T14:42:24.834Z,1628865744.834 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:25.270Z,1628865745.270 [Micromodem](INFO): Nmea in: $SNTTA,0.050959,,,,144225.55*44 2021-08-13T14:42:27.688Z,1628865747.688 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 13.56 m. Transitioning DDM to standby. 2021-08-13T14:42:27.689Z,1628865747.689 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-08-13T14:42:28.061Z,1628865748.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ****** 2021-08-13T14:42:28.061Z,1628865748.061 [DUSBL_Hydroid](INFO): ****** received ping request ****** 2021-08-13T14:42:28.062Z,1628865748.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75 2021-08-13T14:42:28.063Z,1628865748.063 [DUSBL_Hydroid](INFO): ****** ping requested ****** 2021-08-13T14:42:28.485Z,1628865748.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P E3E,000,00353,186,80,80,82,FF 2021-08-13T14:42:28.485Z,1628865748.485 [DUSBL_Hydroid](INFO): Command Ack 2021-08-13T14:42:28.485Z,1628865748.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2 2021-08-13T14:42:28.487Z,1628865748.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-08-13T14:42:28.881Z,1628865748.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-08-13T14:42:29.277Z,1628865749.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,0035E,189,80,80,7A,FF 2021-08-13T14:42:29.277Z,1628865749.277 [DUSBL_Hydroid](INFO): publishing direction and range info 2021-08-13T14:42:29.701Z,1628865749.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144230.01*5F 2021-08-13T14:42:30.171Z,1628865750.171 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby. 2021-08-13T14:42:30.549Z,1628865750.549 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-08-13T14:42:30.549Z,1628865750.549 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2021-08-13T14:42:30.550Z,1628865750.550 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2021-08-13T14:42:30.550Z,1628865750.550 [DefaultWithUndock:LeaveDock] Stopped 2021-08-13T14:42:30.550Z,1628865750.550 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2021-08-13T14:42:30.550Z,1628865750.550 [DefaultWithUndock:LeaveDock:A.] Stopped 2021-08-13T14:42:30.550Z,1628865750.550 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-08-13T14:42:30.551Z,1628865750.551 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-08-13T14:42:30.552Z,1628865750.552 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-08-13T14:42:30.552Z,1628865750.552 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-08-13T14:42:30.553Z,1628865750.553 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-08-13T14:42:30.553Z,1628865750.553 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-08-13T14:42:31.314Z,1628865751.314 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (3 active estimators). 2021-08-13T14:42:31.480Z,1628865751.480 [Radio_Surface](INFO): Powering up 2021-08-13T14:42:37.200Z,1628865757.200 [DataOverHttps](INFO): Radio surface powered ON. 2021-08-13T14:42:50.287Z,1628865770.287 [PowerOnly](INFO): Powering down loadControl 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped 2021-08-13T14:43:02.833Z,1628865782.833 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped 2021-08-13T14:43:07.324Z,1628865787.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-08-13T14:43:18.159Z,1628865798.159 [NAL9602](INFO): SBD MO Status=1, MOMSN=23661, MT Status=0, MTMSN=0 2021-08-13T14:43:18.159Z,1628865798.159 [NAL9602](INFO): No messages in MT queue 2021-08-13T14:43:19.355Z,1628865799.355 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144318.00,A,4133.18042,N,07042.42854,W,2.313,0.00,130821,,,A*79 2021-08-13T14:43:19.357Z,1628865799.357 [NAL9602](INFO): GPS fix at 20210813T144318: (41.553007, -70.707142) 2021-08-13T14:43:19.368Z,1628865799.368 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-08-13T14:43:19.368Z,1628865799.368 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-08-13T14:43:35.709Z,1628865815.709 [NAL9602](INFO): SBD MO Status=1, MOMSN=23662, MT Status=0, MTMSN=0 2021-08-13T14:43:35.758Z,1628865815.758 [NAL9602](INFO): Sent 78 bytes from file Logs/20210813T123241/Courier0033.lzma 2021-08-13T14:43:35.759Z,1628865815.759 [NAL9602](INFO): Packets left to send: 0 2021-08-13T14:43:42.468Z,1628865822.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-08-13T14:43:45.280Z,1628865825.280 [NAL9602](INFO): SBD MO Status=1, MOMSN=23663, MT Status=0, MTMSN=0 2021-08-13T14:43:45.327Z,1628865825.327 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T123241/Express0010.lzma 2021-08-13T14:43:45.327Z,1628865825.327 [NAL9602](INFO): Packets left to send: 4 2021-08-13T14:43:52.333Z,1628865832.333 [NAL9602](INFO): SBD MO Status=1, MOMSN=23664, MT Status=0, MTMSN=0 2021-08-13T14:43:52.380Z,1628865832.380 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T123241/Express0010.lzma 2021-08-13T14:43:52.380Z,1628865832.380 [NAL9602](INFO): Packets left to send: 3 2021-08-13T14:44:00.974Z,1628865840.974 [NAL9602](INFO): SBD MO Status=1, MOMSN=23665, MT Status=0, MTMSN=0 2021-08-13T14:44:01.036Z,1628865841.036 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T123241/Express0010.lzma 2021-08-13T14:44:01.036Z,1628865841.036 [NAL9602](INFO): Packets left to send: 2 2021-08-13T14:44:11.326Z,1628865851.326 [NAL9602](INFO): SBD MO Status=1, MOMSN=23666, MT Status=0, MTMSN=0 2021-08-13T14:44:11.384Z,1628865851.384 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T123241/Express0010.lzma 2021-08-13T14:44:11.384Z,1628865851.384 [NAL9602](INFO): Packets left to send: 1 2021-08-13T14:44:17.612Z,1628865857.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-08-13T14:44:22.732Z,1628865862.732 [NAL9602](INFO): SBD MO Status=1, MOMSN=23667, MT Status=0, MTMSN=0 2021-08-13T14:44:22.788Z,1628865862.788 [NAL9602](INFO): Sent 168 bytes from file Logs/20210813T123241/Express0010.lzma 2021-08-13T14:44:22.788Z,1628865862.788 [NAL9602](INFO): Packets left to send: 0 2021-08-13T14:44:47.929Z,1628865887.929 [NAL9602](INFO): SBD MO Status=1, MOMSN=23668, MT Status=0, MTMSN=0 2021-08-13T14:44:47.982Z,1628865887.982 [NAL9602](INFO): Sent 100 bytes from file Logs/20210813T123241/Express0013.lzma 2021-08-13T14:44:47.982Z,1628865887.982 [NAL9602](INFO): Packets left to send: 0 2021-08-13T14:44:52.752Z,1628865892.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-08-13T14:45:02.258Z,1628865902.258 [NAL9602](INFO): SBD MO Status=1, MOMSN=23669, MT Status=0, MTMSN=0 2021-08-13T14:45:02.316Z,1628865902.316 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T123241/Express0016.lzma 2021-08-13T14:45:02.316Z,1628865902.316 [NAL9602](INFO): Packets left to send: 1 2021-08-13T14:45:12.519Z,1628865912.519 [NAL9602](INFO): SBD MO Status=1, MOMSN=23670, MT Status=0, MTMSN=0 2021-08-13T14:45:12.572Z,1628865912.572 [NAL9602](INFO): Sent 5 bytes from file Logs/20210813T123241/Express0016.lzma 2021-08-13T14:45:12.572Z,1628865912.572 [NAL9602](INFO): Packets left to send: 0 2021-08-13T14:45:23.160Z,1628865923.160 [NAL9602](INFO): SBD MO Status=1, MOMSN=23671, MT Status=0, MTMSN=0 2021-08-13T14:45:23.212Z,1628865923.212 [NAL9602](INFO): Sent 184 bytes from file Logs/20210813T123241/Express0019.lzma 2021-08-13T14:45:23.212Z,1628865923.212 [NAL9602](INFO): Packets left to send: 1 2021-08-13T14:45:27.892Z,1628865927.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-08-13T14:45:37.059Z,1628865937.059 [NAL9602](INFO): SBD MO Status=1, MOMSN=23672, MT Status=0, MTMSN=0 2021-08-13T14:45:37.108Z,1628865937.108 [NAL9602](INFO): Sent 113 bytes from file Logs/20210813T123241/Express0019.lzma 2021-08-13T14:45:37.108Z,1628865937.108 [NAL9602](INFO): Packets left to send: 0 2021-08-13T14:45:57.001Z,1628865957.001 [NAL9602](INFO): SBD MO Status=2, MOMSN=23673, MT Status=2, MTMSN=0 2021-08-13T14:45:57.002Z,1628865957.002 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2021-08-13T14:46:08.174Z,1628865968.174 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T14:46:15.084Z,1628865975.084 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003207 2021-08-13T14:46:22.123Z,1628865982.123 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210813T123241/Courier0036.lzma 2021-08-13T14:46:24.126Z,1628865984.126 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Courier0036.lzma.bak 2021-08-13T14:46:24.127Z,1628865984.127 [DataOverHttps](INFO): SBD MOMSN=431834 2021-08-13T14:46:26.720Z,1628865986.720 [NAL9602](INFO): SBD MO Status=1, MOMSN=23673, MT Status=0, MTMSN=0 2021-08-13T14:46:26.772Z,1628865986.772 [NAL9602](INFO): Sent 148 bytes from file Logs/20210813T123241/Express0022.lzma 2021-08-13T14:46:26.772Z,1628865986.772 [NAL9602](INFO): Packets left to send: 0 2021-08-13T14:46:28.361Z,1628865988.361 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. 2021-08-13T14:46:36.172Z,1628865996.172 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20210813T123241/Express0025.lzma 2021-08-13T14:46:37.174Z,1628865997.174 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0025.lzma.bak 2021-08-13T14:46:37.174Z,1628865997.174 [DataOverHttps](INFO): SBD MOMSN=431836 2021-08-13T14:46:38.492Z,1628865998.492 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:46:47.216Z,1628866007.216 [DataOverHttps](INFO): Sending 217 bytes from file Logs/20210813T123241/Express0028.lzma 2021-08-13T14:46:48.218Z,1628866008.218 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0028.lzma.bak 2021-08-13T14:46:48.218Z,1628866008.218 [DataOverHttps](INFO): SBD MOMSN=431839 2021-08-13T14:46:57.455Z,1628866017.455 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T14:46:58.245Z,1628866018.245 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-08-13T14:46:59.266Z,1628866019.266 [DataOverHttps](INFO): Sending 614 bytes from file Logs/20210813T123241/Express0031.lzma 2021-08-13T14:47:00.266Z,1628866020.266 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0031.lzma.bak 2021-08-13T14:47:00.266Z,1628866020.266 [DataOverHttps](INFO): SBD MOMSN=431842 2021-08-13T14:47:03.091Z,1628866023.091 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error 2021-08-13T14:47:03.095Z,1628866023.095 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error expected 41 2021-08-13T14:47:03.499Z,1628866023.499 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-08-13T14:47:03.908Z,1628866023.908 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813144703.515557,06,824,23,0106,0150,134,03,03,01,03,-1,-01,-01,1,3,7,0,150,75.6,1.96,-100,1.04,-01,-2.91,-18,14500,4000*4C 2021-08-13T14:47:09.304Z,1628866029.304 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20210813T123241/Express0034.lzma 2021-08-13T14:47:10.306Z,1628866030.306 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0034.lzma.bak 2021-08-13T14:47:10.306Z,1628866030.306 [DataOverHttps](INFO): SBD MOMSN=431854 2021-08-13T14:47:21.351Z,1628866041.351 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210813T123241/Express0037.lzma 2021-08-13T14:47:22.354Z,1628866042.354 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0037.lzma.bak 2021-08-13T14:47:22.354Z,1628866042.354 [DataOverHttps](INFO): SBD MOMSN=431859 2021-08-13T14:47:24.213Z,1628866044.213 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-08-13T14:47:24.214Z,1628866044.214 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-08-13T14:47:24.214Z,1628866044.214 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-08-13T14:47:48.364Z,1628866068.364 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-08-13T14:50:02.150Z,1628866202.150 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:52:24.754Z,1628866344.754 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-08-13T14:52:24.754Z,1628866344.754 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-08-13T14:52:24.754Z,1628866344.754 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T14:52:24.754Z,1628866344.754 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-08-13T14:52:25.173Z,1628866345.173 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-08-13T14:52:25.173Z,1628866345.173 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-08-13T14:52:25.577Z,1628866345.577 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.621945 min 2021-08-13T14:52:25.577Z,1628866345.577 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-08-13T14:52:25.577Z,1628866345.577 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:52:25.577Z,1628866345.577 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-08-13T14:52:25.578Z,1628866345.578 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:52:25.578Z,1628866345.578 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2021-08-13T14:52:25.578Z,1628866345.578 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2021-08-13T14:52:25.578Z,1628866345.578 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:52:25.578Z,1628866345.578 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-08-13T14:52:27.580Z,1628866347.580 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145226.00,A,4133.19811,N,07042.35035,W,0.700,45.24,130821,,,A*47 2021-08-13T14:52:27.583Z,1628866347.583 [NAL9602](INFO): GPS fix at 20210813T145226: (41.553302, -70.705839) 2021-08-13T14:52:27.625Z,1628866347.625 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-08-13T14:52:27.625Z,1628866347.625 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-08-13T14:52:33.623Z,1628866353.623 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210813T123241/Courier0039.lzma 2021-08-13T14:52:34.626Z,1628866354.626 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Courier0039.lzma.bak 2021-08-13T14:52:34.626Z,1628866354.626 [DataOverHttps](INFO): SBD MOMSN=431883 2021-08-13T14:52:37.676Z,1628866357.676 [NAL9602](INFO): SBD MO Status=0, MOMSN=23674, MT Status=0, MTMSN=0 2021-08-13T14:52:37.676Z,1628866357.676 [NAL9602](INFO): No messages in MT queue 2021-08-13T14:52:49.688Z,1628866369.688 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210813T123241/Express0040.lzma 2021-08-13T14:52:50.690Z,1628866370.690 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0040.lzma.bak 2021-08-13T14:52:50.690Z,1628866370.690 [DataOverHttps](INFO): SBD MOMSN=431886 2021-08-13T14:52:52.275Z,1628866372.275 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-08-13T14:52:52.275Z,1628866372.275 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-08-13T14:52:52.275Z,1628866372.275 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-08-13T14:53:08.378Z,1628866388.378 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T14:53:48.775Z,1628866428.775 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00 2021-08-13T14:53:48.780Z,1628866428.780 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813145345.528400,06,628,21,0116,0150,134,01,01,01,01,5,-01,-01,2,3,8,0,150,9.2,-343.65,-100,-308.71,-01,0.00,53,14500,4000*5B 2021-08-13T14:53:48.787Z,1628866428.787 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-08-13T14:54:26.766Z,1628866466.766 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error 2021-08-13T14:54:26.767Z,1628866466.767 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error expected 41 2021-08-13T14:54:26.770Z,1628866466.770 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-08-13T14:54:27.168Z,1628866467.168 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813145427.528906,06,229,23,0091,0150,194,02,02,00,02,-1,-01,-01,1,3,1,0,150,-100.0,0.10,-100,2.90,-01,-0.58,-2147483648,14500,4000*58 2021-08-13T14:54:42.926Z,1628866482.926 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error 2021-08-13T14:54:42.926Z,1628866482.926 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error expected 41 2021-08-13T14:54:42.928Z,1628866482.928 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31 2021-08-13T14:54:43.322Z,1628866483.322 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813145441.521103,06,384,19,0220,0150,149,01,01,01,01,-1,-01,-01,1,3,5,0,150,71.3,-345.64,-100,-306.72,-01,0.00,-6,14500,4000*5D 2021-08-13T14:55:58.467Z,1628866558.467 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-08-13T14:56:18.554Z,1628866578.554 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting. 2021-08-13T14:57:28.833Z,1628866648.833 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239452 2021-08-13T14:57:38.713Z,1628866658.713 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-08-13T14:57:45.910Z,1628866665.910 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.008567 2021-08-13T14:57:52.812Z,1628866672.812 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-08-13T14:57:52.812Z,1628866672.812 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-08-13T14:57:52.812Z,1628866672.812 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-08-13T14:57:52.813Z,1628866672.813 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-08-13T14:57:53.218Z,1628866673.218 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-08-13T14:57:53.218Z,1628866673.218 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-08-13T14:57:53.643Z,1628866673.643 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 17.089366 min 2021-08-13T14:57:53.643Z,1628866673.643 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-08-13T14:57:53.643Z,1628866673.643 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:57:53.643Z,1628866673.643 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-08-13T14:57:53.643Z,1628866673.643 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:57:53.648Z,1628866673.648 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3 2021-08-13T14:57:53.648Z,1628866673.648 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3 2021-08-13T14:57:53.648Z,1628866673.648 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-08-13T14:57:53.648Z,1628866673.648 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-08-13T14:57:55.630Z,1628866675.630 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145754.00,A,4133.20884,N,07042.30747,W,0.641,30.16,130821,,,D*44 2021-08-13T14:57:55.633Z,1628866675.633 [NAL9602](INFO): GPS fix at 20210813T145754: (41.553481, -70.705124) 2021-08-13T14:57:55.654Z,1628866675.654 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-08-13T14:57:55.654Z,1628866675.654 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-08-13T14:58:02.972Z,1628866682.972 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210813T123241/Courier0042.lzma 2021-08-13T14:58:03.974Z,1628866683.974 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Courier0042.lzma.bak 2021-08-13T14:58:03.974Z,1628866683.974 [DataOverHttps](INFO): SBD MOMSN=431891 2021-08-13T14:58:07.340Z,1628866687.340 [NAL9602](INFO): SBD MO Status=0, MOMSN=23675, MT Status=0, MTMSN=0 2021-08-13T14:58:07.340Z,1628866687.340 [NAL9602](INFO): No messages in MT queue 2021-08-13T14:58:37.108Z,1628866717.108 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210813T123241/Express0043.lzma 2021-08-13T14:58:38.042Z,1628866718.042 [NAL9602](INFO): Not Powering down - fast GPS 2021-08-13T14:58:38.113Z,1628866718.113 [DataOverHttps](INFO): Moved sent file to Logs/20210813T123241/Express0043.lzma.bak 2021-08-13T14:58:38.114Z,1628866718.114 [DataOverHttps](INFO): SBD MOMSN=431894 2021-08-13T14:58:39.681Z,1628866719.681 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-08-13T14:58:39.681Z,1628866719.681 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-08-13T14:58:39.681Z,1628866719.681 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-08-13T15:00:33.605Z,1628866833.605 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T150032 2021-08-13T15:00:40.636Z,1628866840.636 [DataOverHttps](INFO): Received command:restart logs